WO2022262302A1 - Passive lower-limb exoskeleton - Google Patents

Passive lower-limb exoskeleton Download PDF

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Publication number
WO2022262302A1
WO2022262302A1 PCT/CN2022/077611 CN2022077611W WO2022262302A1 WO 2022262302 A1 WO2022262302 A1 WO 2022262302A1 CN 2022077611 W CN2022077611 W CN 2022077611W WO 2022262302 A1 WO2022262302 A1 WO 2022262302A1
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WO
WIPO (PCT)
Prior art keywords
thigh
unit
calf
lower leg
joint
Prior art date
Application number
PCT/CN2022/077611
Other languages
French (fr)
Chinese (zh)
Inventor
尹鹏
黄勇
关文江
齐关宇
王智锋
Original Assignee
广州视源电子科技股份有限公司
广州视睿电子科技有限公司
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Publication date
Application filed by 广州视源电子科技股份有限公司, 广州视睿电子科技有限公司 filed Critical 广州视源电子科技股份有限公司
Publication of WO2022262302A1 publication Critical patent/WO2022262302A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0006Exoskeletons, i.e. resembling a human figure
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H3/00Appliances for aiding patients or disabled persons to walk about
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators

Definitions

  • This application relates to the technical field of exoskeleton equipment, for example, it relates to a passive lower limb exoskeleton.
  • exoskeleton comes from the hard shell of insects and shellfish in biology, and the exoskeleton mainly provides protection and support functions for insects and shellfish.
  • the human mechanical exoskeleton system is a kind of equipment that is worn outside the operator's body. On the basis of providing the operator with functions such as protection and body support, it provides the wearer with additional power or ability, enhances the function of the human body, and can Complete certain functions and tasks under the control of the operator.
  • the passive lower extremity exoskeleton is a weight-bearing device for the human body.
  • a set of external brackets is designed for the wearer.
  • the passive lower extremity exoskeleton can enhance the soldier's load-bearing capacity, reduce the soldier's fatigue, reduce the chance of injury, improve combat effectiveness, and effectively solve the complex urban terrain environment, plateau environment without restricting the flexibility of movement.
  • a passive lower extremity exoskeleton which aims to solve the problem that gravity cannot be effectively transmitted to the ground in related technologies, resulting in a high load on the wearer, which affects comfort and safety.
  • the application provides a passive lower limb exoskeleton
  • the passive lower limb exoskeleton includes:
  • the back unit includes a back support plate, and the back support plate is used for loading heavy objects;
  • the waist unit is movably connected with the back unit;
  • the back unit is flexibly connected to the thigh unit through the hip joint;
  • the thigh unit is movably connected to the lower leg unit through the knee joint;
  • An energy storage support mechanism the energy storage support mechanism is arranged in the thigh unit and connected to the lower leg unit, and when the thigh unit bends relative to the lower leg unit, the energy storage support mechanism stores energy , when the thigh unit and the lower leg unit return to an upright posture, the energy storage support mechanism automatically releases the support force;
  • An ankle joint and a foot unit the lower leg unit is movably connected with the foot unit through the ankle joint.
  • the passive lower extremity exoskeleton of the above solution is used to be worn by the wearer on the body, for example, on the back and lower extremity parts of the body, so as to reduce the wearer's physical exertion when carrying out heavy labor.
  • the wearer when the wearer is carrying a heavy object, he can place the heavy object on the back supporting board.
  • the gravity generated by the heavy object is transmitted to the waist unit through the back supporting board, and then along the waist unit, hip joint , thigh unit, knee joint, calf unit, ankle joint and then to the foot unit, and finally from the foot unit to the ground, the entire gravity transmission path is straight downward, the force transmission path is short, and the gravity transmission to the ground is efficient, which can effectively reduce The weight of the wearer; in addition, when the wearer reaches the destination and releases the heavy object to the ground, the wearer's body bends at this time, that is, the thigh unit will bend relative to the calf unit, and the energy storage support mechanism starts to store energy; After the heavy objects are placed, the energy storage support mechanism will automatically release the support force, thereby supporting the thigh unit to rotate upward relative to the calf unit and return to an upright position, so as to provide assistance for the human knee joint, reduce the force on the human knee joint and wear It reduces the effort required by the wearer to recover the standing posture, and assists the wearer to perform heavy-duty
  • the passive lower extremity exoskeleton also includes a back adjustment and locking device
  • the back unit also includes a backboard, a back support bar and a strap
  • the lumbar unit includes a backboard and a lumbar support Rod
  • the back support board is rotatably arranged on the waist back board
  • the back board is connected with the waist back board through the back support bar
  • the strap is connected with the back board and used to be fixed on the wearer on the shoulder
  • the back board is adjustable and locked with one end of the lumbar support rod through the lumbar adjustment locking device, and the other end of the lumbar support rod is connected with the hip joint.
  • At least two first adjustment holes are arranged at intervals along the height direction of the passive lower extremity exoskeleton on the back support bar, and the waist back plate can be selectively connected with any The first adjustment hole is buckled and connected to realize the distance adjustment between the backboard and the waist backboard;
  • the back supporting board is arranged obliquely upwards and is arranged at an acute angle with the backboard.
  • a waist-shaped hole is opened in the horizontal direction on the waist back plate, and the waist-back adjusting and locking device can be slidably arranged in the waist-shaped hole and fixed to realize the width of the waist unit. adjust.
  • the thigh unit includes a thigh support bar, a thigh skeleton, and a thigh joint seat
  • the calf unit includes a calf joint seat
  • the thigh joint seat and the calf joint seat are rotatably connected through the knee joint
  • the thigh frame is connected to the hip joint through the thigh support bar, the thigh frame adopts a hollow structure design, and the energy storage support mechanism is arranged in the hollow cavity of the thigh frame;
  • the energy storage support mechanism includes a stay cord pressing block, a stay cord and a thigh compression spring, the thigh compression spring is arranged between the stay cord pressing block and the calf joint seat, one end of the stay cord is connected to the The stay rope pressing block is connected, and the other end passes through the thigh joint seat and is connected with the calf joint seat.
  • the energy storage support mechanism further includes a drawstring length adjustment assembly
  • the lower leg unit further includes a lower leg frame connected to the lower leg joint seat, the lower leg frame adopts a hollow structure design, and the puller
  • the cord length adjustment assembly is arranged in the hollow cavity of the calf frame and connected with the stay cord, the draw cord length adjustment assembly is used to adjust the initial length of the draw cord to achieve the initial elastic force on the thigh compression spring stepless adjustment.
  • At least two second adjustment holes are arranged at intervals along the height direction of the passive lower extremity exoskeleton on the thigh support bar, and the thigh frame can be selected to be connected to any one of the thigh frames through a buckle.
  • the second adjustment hole is snap-connected to realize the length adjustment of the thigh unit;
  • the thigh unit also includes a thigh baffle and a thigh strap, the thigh baffle is arranged on the thigh frame, and the thigh strap is connected between the thigh baffle and the thigh frame;
  • the thigh baffle is provided with a first cooling hole.
  • the calf unit further includes a calf support bar, the calf frame is connected to the calf support bar, and the calf support bar is movably connected to the foot unit through the ankle joint;
  • the calf support bar is provided with at least two third adjustment holes arranged at intervals along the height direction of the passive lower extremity exoskeleton, and the calf frame can be locked with any one of the third adjustment holes through buckles. Buckle connection to achieve length adjustment of the lower leg unit.
  • the calf unit further includes a calf shield and a calf strap, the calf shield is arranged on the calf frame, and the calf strap is connected to the calf shield and the calf strap.
  • Skeleton support
  • the lower leg baffle is provided with a second cooling hole.
  • the foot unit includes an ankle support base, a sole plate and a foot strap, the ankle joint is connected to the sole plate through the ankle support base, and the foot strap a strap is disposed on the sole plate;
  • the foot strap is provided with an adjustment buckle, and the adjustment buckle is used to make the length of the foot strap adjustable.
  • Fig. 1 is a schematic structural diagram of a passive lower limb exoskeleton described in an embodiment of the present application
  • FIG. 2 is a structural schematic diagram from another perspective of FIG. 1 .
  • FIG. 1 it is a passive lower extremity exoskeleton shown in an embodiment of the present application.
  • the design of the passive lower extremity exoskeleton can help humans walk with weight, enhance walking ability and speed, and reduce fatigue after long journeys and heavy loads . Therefore, it not only has important application value in the military field, but also can be widely used in civilian fields such as emergency rescue, disaster relief, climbing, construction and industrial assistance.
  • the passive lower extremity exoskeleton mainly designs a set of external supports for the wearer based on the idea of bionics. By transmitting the weight of the external objects to the ground, it amplifies the movement of the wearer's limbs, so as to enhance the soldier's operational ability and maintain Its mobility is flexible, it is not restricted by ground road conditions, weather conditions, working time and space, and its anthropomorphic structural design can make the exoskeleton and the user's limbs move in harmony, and the load is transferred to the legs through the exoskeleton skeleton Compared with the ground, the load that soldiers feel is 40% or even lower than the actual load, which greatly reduces the physical energy consumption of soldiers, enables them to maintain sufficient physical energy after high-intensity operations, and improves operational efficiency.
  • the passive lower extremity exoskeleton in this embodiment includes: a back unit 10, a waist unit 30, a hip joint 40, a thigh unit 50, a knee joint 60, and a lower leg unit 70 , the energy storage support mechanism 80 , the foot unit 100 and the ankle joint 90 .
  • the back unit 10 includes a back support plate 11, and the back support plate 11 is used for loading a weight 20; the waist unit 30 is movably connected with the back unit 10;
  • the thigh unit 50 is movably connected;
  • the thigh unit 50 is movably connected with the shank unit 70 through the knee joint 60 ; connected, and when the thigh unit 50 is bent relative to the calf unit 70, the energy storage support mechanism 80 stores energy, and when the thigh unit 50 and the calf unit 70 return to an upright position, the The energy storage supporting mechanism 80 automatically releases the supporting force;
  • the calf unit 70 is movably connected with the foot unit 100 through the ankle joint 90 .
  • the passive lower limb type exoskeleton of the above solution is used to be worn by the wearer, for example, on the back of the body and the lower limbs below, so as to relieve the wearer's Physical exertion when performing heavy labor.
  • the wearer when the wearer is carrying the heavy object 20, he can place the heavy object 20 on the back support plate 11.
  • the gravity generated by the heavy object 20 is transmitted to the waist unit 30 through the back support plate 11, and then along the From the waist unit 30, the hip joint 40, the thigh unit 50, the knee joint 60, the calf unit 70, the ankle joint 90 to the foot unit 100, and finally from the foot unit 100 to the ground, the entire gravity transmission path is straight downward, The force transmission path is short, and the gravity is efficiently transmitted to the ground, which can effectively reduce the wearer's load; in addition, when the wearer reaches the destination and releases the weight 20 to the ground, the wearer's body bends at this time, that is, the thigh unit 50 The calf unit 70 will be bent, and the energy storage support mechanism 80 starts to store energy; after the weight 20 is placed, the energy storage support mechanism 80 will automatically release the support force, thereby supporting the thigh unit 50 to rotate upward relative to the calf unit 70 and recover. To the upright posture, it can provide assistance for the human knee joint 60, reduce the force on the human knee joint 60 and the wearer's effort to
  • the passive lower extremity exoskeleton also includes a back adjustment and locking device 200
  • the back unit 10 also includes a backboard 12, a back support bar 13 and a strap 14.
  • the lumbar unit 30 includes a back plate 31 and a lumbar support rod 32, the back support plate 11 is rotatably arranged on the back plate 31, and the back plate 12 connects with the back support bar 13 to the
  • the back panel 31 is connected, the strap 14 is connected with the back panel 12 and used to be fixed on the wearer's shoulders;
  • One end of the lumbar support rod 32 is adjustable and locked, and the other end of the lumbar support rod 32 is connected to the hip joint 40 .
  • the back supporting board 11 and the back board 12 act as main load-bearing components.
  • the weight 20 When the weight 20 is placed on the back supporting board 11 , it first bears the gravity of the heavy object 20 and transmits the gravity. At this time, the load on the back is passed upwards to the straps 14 through the back supporting plate 11 through the back support bar 13 and the backboard 12, thereby being borne by the wearer's shoulders. Another part of the weight will be transmitted downwards to the lumbar unit 30 through the back panel 31 .
  • the waist unit 30 includes a waist belt 33, the two ends of the waist belt 33 are respectively connected with the hip joints 40 on both sides, the back straps 14 are set to two, and one end is connected with the waist belt 33, so that the back unit 10 is connected to the back of the wearer. Fasten the binding.
  • the back panel 31 can be regulated by the back adjustment and locking device 200 and the waist support bar 32, thereby adjusting the length of the back unit 10 according to the back length of different wearers, and then locking the back adjustment and locking device 200 to make the back Unit 10 is well adapted to the current wearer.
  • the back support bar 13 is provided with at least two first adjustment holes at intervals along the height direction of the passive lower extremity exoskeleton.
  • One of the first adjustment holes is buckled and connected to realize the distance adjustment between the back panel 12 and the waist back panel 31, that is, to complete the length adjustment of the back unit 10, so that the back unit 10 can be adapted to different wearers The wearable needs of the exoskeleton device can be improved.
  • the back supporting board 11 is arranged inclined upward and forms an acute angle with the back board 12 .
  • the angle between the back support plate 11 and the back plate 12 is 75°. This can prevent the weight on the back from slipping backwards, and can make the center of the weight 20 more close to the wearer's back, reducing the moment of the weight 20 on the waist of the human body, making the wearer feel a lower sense of weight, and improving the wearer's comfort. feel.
  • a waist-shaped hole is opened on the waist-back board 31 along the horizontal direction, and the waist-back adjusting and locking device 200 can be slidably arranged and fixed in the waist-shaped hole, so as to realize the waist unit 30 width adjustment.
  • the length of the waist hole is set to 60mm.
  • Back adjusting locking device 200 adopts screw. When the screw slides in the waist hole and is adjusted in place, the screw is locked, and the flexible adjustment of the width of the waist unit 30 is completed at this time, thereby meeting the wearing needs of wearers with different physique widths.
  • the hip joint 40 is provided with three rotational degrees of freedom in spatial directions, which are respectively flexion/extension, adduction/swing and left/right rotation degrees of freedom, so as to match the movement of the hip joint 40 of the human body.
  • the waist belt 33 realizes the connection between the exoskeleton waist unit 30 and the waist of the human body.
  • one end of the waist belt 33 is connected to the exoskeleton waist unit 30 through a connection structure such as Velcro, splint screws, and the other end is connected to the exoskeleton waist unit 30 through a ribbon, a buckle, etc. It is bound to the waist of the human body with connecting structures such as ring buckles.
  • the thigh unit 50 includes a thigh support bar 51, a thigh frame 52, and a thigh joint seat 53
  • the calf unit 70 includes a calf joint seat 71
  • the thigh joint Seat 53 is rotationally connected with said calf joint seat 71 through said knee joint 60
  • said thigh frame 52 is connected with said hip joint 40 through said thigh support bar 51, said thigh frame 52 adopts hollow structure design
  • said The energy storage supporting mechanism 80 is arranged in the hollow cavity of the thigh frame 52 .
  • the weight that the back unit 10 transmits downwards can enter the thigh unit 50, and in one embodiment, the weight can be transmitted to the thigh frame 52 through the thigh support bar 51, and then to the thigh joint seat 53, so as to further increase the weight of the weight 20. Pass to the ground.
  • the energy storage support mechanism 80 is installed in the hollow cavity of the thigh frame 52, and the thigh frame 52 forms a hidden installation for the energy storage support mechanism 80, which not only makes the exoskeleton device more beautiful, but also plays a role in the energy storage support mechanism 80 by the thigh frame 52. Protective effects.
  • the energy storage support mechanism 80 includes a drawstring pressing block 81 , a drawstring 82 and a thigh compression spring 83 , and the thigh compression spring 83 is arranged on the drawstring pressing block 81 Between the calf joint seat 71 , one end of the stay cord 82 is connected to the draw cord pressing block 81 , and the other end is connected to the calf joint seat 71 after passing through the thigh joint seat 53 .
  • the drawstring 82 moves down, which will drive the drawstring press block 81 to compress the thigh compression spring 83, realize energy storage, and release energy when the knee joint 60 recovers from bending to upright, giving human knee
  • the joint 60 provides assistance to reduce the stress on the knee joint 60 of the human body.
  • the knee joint 60 sets a degree of freedom in the direction of flexion/extension.
  • the stay rope 82 rotates along the outer contour surface of the calf joint seat 71 .
  • the outer contour adopts a cam-shaped line.
  • the cam diameter is 35mm; when the position is greater than 60 degrees, the cam diameter becomes 50mm; the large circle contour and the small circle contour of the cam are connected by a smooth transition .
  • the energy storage support mechanism 80 also includes a drawstring length adjustment assembly 300
  • the lower leg unit 70 also includes a lower leg frame 75 connected to the lower leg joint seat 71
  • the The calf frame 75 adopts a hollow structure design
  • the drawstring length adjustment assembly 300 is arranged in the hollow cavity of the calf frame 75 and connected with the drawstring 82, and the drawstring length adjustment assembly 300 is used to adjust the drawstring length.
  • the initial length of the rope 82 is used to realize the stepless adjustment of the initial elastic force of the thigh compression spring 83.
  • the passive stretching force in the bending process of the knee joint 60 and the restoring force in the erecting process can be changed to meet the supporting force requirements of the wearer under different load-bearing conditions.
  • the stay cord 82 passes through the thigh joint seat 53, it passes through the calf joint seat 71 and is fixedly connected with the stay cord 82 length adjusting device.
  • the stay cord 82 is hidden inside the thigh joint seat 53 and the calf joint seat 71, which not only ensures the safety of the stay cord 82, but also improves the aesthetics of the exoskeleton device.
  • the thigh support bar 51 is provided with at least two second adjustment holes at intervals along the height direction of the passive lower extremity exoskeleton, and the thigh frame 52 can be connected to any The second adjustment hole is snap-connected to realize the length adjustment of the thigh unit 50 .
  • the second adjustment hole is snap-connected to realize the length adjustment of the thigh unit 50 .
  • eight square holes with a width of 10 mm and a spacing of 15 mm are evenly distributed on the thigh support bar 51.
  • the thigh frame 52 can be buckled and connected to any second adjustment hole through buckles. In this way, thigh units 50 of different lengths can be obtained to adapt to the lengths of the thighs of different people and improve the applicability of the exoskeleton device.
  • the thigh unit 50 also includes a thigh baffle 54 and a thigh strap 55, the thigh baffle 54 is arranged on the thigh frame 52, and the thigh strap 55 is connected to between the thigh guard 54 and the thigh frame 52 .
  • the thigh baffle plate 54 and the thigh frame 52 are fixedly connected by screws, and the connection is stable and reliable.
  • the thigh baffle 54 fits closely with the wearer's thigh, and its function is to transmit the human-machine interaction force to the human thigh along the normal direction.
  • the thigh baffle 54 is set with as large an area as possible to reduce local pressure.
  • the thigh straps 55 are used to ensure that the thigh shield 54 fits closely with the wearer's thighs.
  • the thigh strap 55 is made of an elastic textile material, and is adhered and fixed by Velcro.
  • the thigh baffle 54 defines a first cooling hole 541 .
  • first cooling hole 541 In order to achieve the purpose of weight reduction and heat dissipation.
  • three first heat dissipation holes 541 are provided at intervals, and the heat dissipation holes adopt oval through holes to further enhance weight reduction and heat dissipation effects.
  • the calf unit 70 further includes a calf support bar 72 , the calf frame 75 is connected to the calf support bar 72 , and the calf support bar 72 passes through the
  • the ankle joint 90 is movably connected with the foot unit 100 .
  • the weight transmitted downward from the thigh unit 50 will be further transmitted to the calf support bar 72 through the calf frame 75 , and finally transmitted to the ground by the ankle joint 90 and the foot unit 100 , so as to reduce the load on the wearer.
  • the calf support bar 72 is provided with at least two third adjustment holes arranged at intervals along the height direction of the passive lower extremity exoskeleton, and the calf frame 75 can choose one or any of the third adjustment holes through a buckle.
  • the holes are snap-connected to realize the length adjustment of the lower leg unit 70 . In order to adapt to the length of the calf segment of different groups of people, the scope of application of the exoskeleton device is improved.
  • the calf unit 70 further includes a calf shield 73 and a calf strap 74, the calf shield 73 is arranged on the calf frame 75, and the calf
  • the strap 74 is connected to the lower leg shield 73 and the lower leg frame 75 bracket.
  • the calf baffle 73 and the calf frame 75 are fixedly connected by screws.
  • the calf baffle 73 is closely attached to the wearer's calf. Its function is to transfer the human-computer interaction force to the human calf along the normal direction.
  • the calf baffle 73 is set as large as possible. area to relieve local pressure.
  • the calf strap 74 is used to ensure that the calf baffle 73 fits closely with the wearer's calf.
  • the calf strap 74 is fixedly connected with the calf baffle 73 and the calf frame 75 respectively.
  • the calf strap 74 is made of elastic textile material and passed through Velcro for adhesive fixation.
  • the lower leg shield 73 defines a second cooling hole 731 .
  • the second heat dissipation holes 731 are arranged as two at intervals, and the heat dissipation holes are elliptical through holes with a large hole area to further enhance weight reduction and heat dissipation effects.
  • the foot unit 100 includes an ankle joint support base 110 , a sole plate 120 and a foot strap 130 , and the ankle joint 90 is connected to the ankle joint support base 110 On the sole plate 120 , the foot strap 130 is disposed on the sole plate 120 .
  • the foot unit 100 is connected with the ankle support base 110 through the ankle joint 90, and transmits the gravity of the weight 20 transmitted from the calf unit 70 to the ground.
  • the purpose of human weight bearing is not limited to human weight bearing.
  • Ankle joint 90 sets degrees of freedom in two directions, which are respectively forward flexion/extension, adduction/outward swing, left-handed/right-handed degree of freedom of ankle joint 90 shares with hip joint 40; exoskeleton ankle joint 90 The degrees of freedom fully match the 90 degrees of freedom of the human ankle joint, so as to realize the consistency between the exoskeleton and the movement of the human body.
  • the ankle support base 110 is fixedly connected to the strap with screws, and the other end of the strap is connected to the sole plate 120 .
  • the foot unit 100 tightly wraps the human foot through the front and rear straps of the feet and the sole plate 120.
  • the foot strap 130 is provided with an adjustment buckle, and the adjustment buckle is used to make the length of the foot strap 130 adjustable. Adjustable to suit the size of different people's feet.
  • the adjustment buckle may be, but not limited to, a magnetic buckle, a retractable buckle, and the like.
  • the weight 20 is placed on the back support plate 11, and part of the weight of the weight 20 will pass through the back unit 10, the waist unit 30, the thigh unit 50, the calf unit 70 and the foot unit respectively.
  • part of the weight of the weight 20 is transmitted to the back plate 31 through the back support plate 11, and then to the waist support bar 32, and then the gravity is transmitted to the thigh frame 52 through the hip joint 40 and the thigh support bar 51 , and then through the thigh joint seat 53, the calf joint seat 71, the calf frame 75, the calf support bar 72, the ankle joint 90 and the ankle joint support seat 110, the gravity is transmitted to the ground, thereby reducing the load on the human body.
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features.
  • the features defined as “first” and “second” may explicitly or implicitly include at least one of these features.
  • “plurality” means at least two, such as two, three, etc., unless otherwise clearly defined.
  • a first feature being "on” or “under” a second feature may mean that the first and second features are in direct contact, or that the first and second features are indirect through an intermediary. touch.
  • “above”, “above” and “above” the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or means that the level of the first feature is higher than that of the second feature.
  • “Below”, “beneath” and “beneath” the first feature may mean that the first feature is directly below or obliquely below the second feature, or that the first feature is less horizontally than the second feature.

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Abstract

A passive lower-limb exoskeleton, comprising: a back unit (10) comprising a back support plate (11), the back support plate (11) being used for loading a weight; a waist unit (30) movably connected to the back unit (10); hip joints (40) and thigh units (50), the back unit (10) being movably connected to the thigh units (50) by means of the hip joints (40); knee joints (60) and shank units (70), the thigh units (50) being movably connected to the shank units (70) by means of the knee joints (60); energy storage supporting mechanisms provided in the thigh units (50) and connected to the shank units (70), wherein when the thigh units (50) are bent relative to the shank units (70), the energy storage supporting mechanisms store energy, and when the thigh units (50) and the shank units (70) restore an upright posture, the energy storage supporting mechanisms automatically release a supporting force; and ankle joints and foot units, the shank units (70) being movably connected to the foot units by means of the ankle joints. The energy storage supporting mechanisms can automatically release a supporting force to provide assistance for the knee joints (60) of a human body, and can assist a wearer to carry out load-bearing labor in more comfortable, safer, and more efficient fashion.

Description

无源下肢型外骨骼passive lower extremity exoskeleton
本申请要求于2021年6月17日提交国家知识产权局、申请号为202110673130.1、发明名称为“无源下肢型外骨骼”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。This application claims the priority of a Chinese patent application filed with the State Intellectual Property Office on June 17, 2021, with application number 202110673130.1, and the title of the invention is "Passive Lower Extremity Exoskeleton", the entire content of which is incorporated by reference in this application .
技术领域technical field
本申请涉及外骨骼装备技术领域,例如是涉及一种无源下肢型外骨骼。This application relates to the technical field of exoskeleton equipment, for example, it relates to a passive lower limb exoskeleton.
背景技术Background technique
随着现代化战争发展,武器装备不断改善,士兵背负重量呈越来越重的趋势,直接影响了士兵的战斗力和健康状况。近年来,应用于体能增强的外骨骼作为具有强大功能的可穿戴机械设备,越来越受到国内外众多学者和科研人员的重视,成为新的研究热点,并开始逐步运用到军工领域。外骨骼这一名词来源于生物学中昆虫和壳类动物的坚硬外壳,外骨骼主要为昆虫和壳类动物提供了防护和支撑功能。人体机械外骨骼系统是一种穿戴在操作者身体外部的,在为操作者提供了诸如保护、身体支撑等功能的基础上,为穿戴者提供了额外的动力或能力,增强了人体机能,能够在操作者的控制下完成一定的功能和任务。With the development of modern warfare and the continuous improvement of weapons and equipment, soldiers are carrying heavier and heavier weights, which directly affects the combat effectiveness and health of soldiers. In recent years, as a wearable mechanical device with powerful functions, the exoskeleton applied to physical enhancement has attracted more and more attention from many scholars and researchers at home and abroad, and has become a new research hotspot, and has gradually been applied to the military field. The term exoskeleton comes from the hard shell of insects and shellfish in biology, and the exoskeleton mainly provides protection and support functions for insects and shellfish. The human mechanical exoskeleton system is a kind of equipment that is worn outside the operator's body. On the basis of providing the operator with functions such as protection and body support, it provides the wearer with additional power or ability, enhances the function of the human body, and can Complete certain functions and tasks under the control of the operator.
无源下肢型外骨骼是一种人体负重助力装置,为穿戴者设计一套体外支架,通过将外挂物重量传导到地面的同时,放大穿戴者的肢体动感,做到既增强士兵作业能力,又保持其行动灵活性的,无源下肢型外骨骼可以在不限制运动灵活度的前提下,增强士兵负重能力,减小士兵疲劳程度,降低受伤几率,提高战斗力,有效解决城市复杂地形环境、高原山地缺氧环境的士兵体能问题。无源下肢型外骨骼要实现为人体助力,在支撑相需要体现出“刚性”对人体进行负载支撑,在摆动相负载不干扰人体的正常行走,达到人机交互力最小,两者既有明显不同的功能需求又有着“同一机械结构”这一本质联系。The passive lower extremity exoskeleton is a weight-bearing device for the human body. A set of external brackets is designed for the wearer. By transmitting the weight of the external objects to the ground, it amplifies the movement of the wearer's limbs, so as to not only enhance the soldier's operational ability, but also Maintaining its mobility, the passive lower extremity exoskeleton can enhance the soldier's load-bearing capacity, reduce the soldier's fatigue, reduce the chance of injury, improve combat effectiveness, and effectively solve the complex urban terrain environment, plateau environment without restricting the flexibility of movement. Soldiers' physical fitness problems in a mountainous hypoxic environment. In order for the passive lower extremity exoskeleton to assist the human body, it needs to reflect the "rigidity" to support the human body in the support phase, and the load in the swing phase does not interfere with the normal walking of the human body, so as to achieve the minimum human-computer interaction force, both of which are obvious. Different functional requirements have the essential connection of "the same mechanical structure".
然而,现有的无源下肢型外骨骼装置的结构设计不够合理,重力向地面传递的路径交错复杂,无法实现重力向地面有效传导,致使穿戴者负重仍然较高,舒适性和安全性较差。However, the structural design of the existing passive lower extremity exoskeleton devices is not reasonable enough, the path of gravity transmission to the ground is staggered and complicated, and the effective transmission of gravity to the ground cannot be realized, resulting in the wearer's heavy load, poor comfort and safety .
发明内容Contents of the invention
基于此,提供一种无源下肢型外骨骼,旨在解决相关技术重力无法有效传递至地面,造成穿戴者负重较高,影响舒适性和安全性的问题。Based on this, a passive lower extremity exoskeleton is provided, which aims to solve the problem that gravity cannot be effectively transmitted to the ground in related technologies, resulting in a high load on the wearer, which affects comfort and safety.
本申请提供一种无源下肢型外骨骼,所述无源下肢型外骨骼包括:The application provides a passive lower limb exoskeleton, the passive lower limb exoskeleton includes:
背部单元,所述背部单元包括背部托板,所述背部托板用于装载重物;a back unit, the back unit includes a back support plate, and the back support plate is used for loading heavy objects;
腰部单元,所述腰部单元与所述背部单元活动连接;a waist unit, the waist unit is movably connected with the back unit;
髋关节和大腿单元,所述背部单元通过所述髋关节与所述大腿单元活动连接;a hip joint and a thigh unit, the back unit is flexibly connected to the thigh unit through the hip joint;
膝关节和小腿单元,所述大腿单元通过所述膝关节与所述小腿单元活动连接;a knee joint and a lower leg unit, the thigh unit is movably connected to the lower leg unit through the knee joint;
蓄能支撑机构,所述蓄能支撑机构设置于所述大腿单元内并与所述小腿单元连接,且在所述大腿单元相对所述小腿单元发生弯曲时,所述蓄能支撑机构进行蓄能,在所述大腿单元与所述小腿单元恢复直立位姿时,所述蓄能支撑机构自动释放支撑力;以及An energy storage support mechanism, the energy storage support mechanism is arranged in the thigh unit and connected to the lower leg unit, and when the thigh unit bends relative to the lower leg unit, the energy storage support mechanism stores energy , when the thigh unit and the lower leg unit return to an upright posture, the energy storage support mechanism automatically releases the support force; and
踝关节和脚部单元,所述小腿单元通过所述踝关节与所述脚部单元活动连接。An ankle joint and a foot unit, the lower leg unit is movably connected with the foot unit through the ankle joint.
上述方案的无源下肢型外骨骼用于使穿戴者穿戴在身上,例如穿戴在身体的背部及以下的下肢部位,用以减轻穿戴者进行负重劳动时的体力损耗。在一个实施例中,穿戴者在搬运重物时,可以将重物放置在背部托板上,此时,重物产生的重力经由背部托板传递至腰部单元,之后沿着腰部单元、髋关节、大腿单元、膝关节、小腿单元、踝关节再到脚部单元,最终从脚部单元传递至地面,整个重力的传递路径笔直向下,传力路径短,重力传导到地面高效,可有效减轻穿戴者的负重;此外,当穿戴者到达目的地将重物释放到地面上时,此时穿戴者身体产生弯曲,也即大腿单元会相对小腿单元产生弯曲,蓄能支撑机构开始进行蓄能;在重物放置完毕后,蓄能支撑机构会自动释放支撑力,从而支撑大腿单元相对小腿单元向上转动并恢复至直立位姿,实现为人体膝关节提供助力,减轻人体膝关节的受力以及穿戴者恢复站姿所需的用力,协助穿戴者进行负重劳动时可以更加舒适和安全且高效。The passive lower extremity exoskeleton of the above solution is used to be worn by the wearer on the body, for example, on the back and lower extremity parts of the body, so as to reduce the wearer's physical exertion when carrying out heavy labor. In one embodiment, when the wearer is carrying a heavy object, he can place the heavy object on the back supporting board. At this time, the gravity generated by the heavy object is transmitted to the waist unit through the back supporting board, and then along the waist unit, hip joint , thigh unit, knee joint, calf unit, ankle joint and then to the foot unit, and finally from the foot unit to the ground, the entire gravity transmission path is straight downward, the force transmission path is short, and the gravity transmission to the ground is efficient, which can effectively reduce The weight of the wearer; in addition, when the wearer reaches the destination and releases the heavy object to the ground, the wearer's body bends at this time, that is, the thigh unit will bend relative to the calf unit, and the energy storage support mechanism starts to store energy; After the heavy objects are placed, the energy storage support mechanism will automatically release the support force, thereby supporting the thigh unit to rotate upward relative to the calf unit and return to an upright position, so as to provide assistance for the human knee joint, reduce the force on the human knee joint and wear It reduces the effort required by the wearer to recover the standing posture, and assists the wearer to perform heavy-duty labor more comfortably, safely and efficiently.
下面对本申请的技术方案的说明如下:The technical scheme of the present application is explained as follows below:
在其中一个实施例中,所述无源下肢型外骨骼还包括腰背调节锁紧装置,所述背部单元还包括背板、背部支撑条和背带,所述腰部单元包括腰背板和腰部支撑杆,所述背部托板转动设置于所述腰背板上,所述背板通过所述背部支撑条与所述腰背板连接,所述背带与所述背板连接并用于固定在穿戴者的肩部上;所述腰背板通过所述腰背调节锁紧装置与所述腰部支撑杆的一端可调锁紧连接,所述腰部支撑杆的另一端与所述髋关节连接。In one of the embodiments, the passive lower extremity exoskeleton also includes a back adjustment and locking device, the back unit also includes a backboard, a back support bar and a strap, and the lumbar unit includes a backboard and a lumbar support Rod, the back support board is rotatably arranged on the waist back board, the back board is connected with the waist back board through the back support bar, and the strap is connected with the back board and used to be fixed on the wearer on the shoulder; the back board is adjustable and locked with one end of the lumbar support rod through the lumbar adjustment locking device, and the other end of the lumbar support rod is connected with the hip joint.
在其中一个实施例中,所述背部支撑条上沿所述无源下肢型外骨骼的高度方向间隔开设有至少两个第一调节孔,所述腰背板通过卡扣可择一与任一所述第一调节孔卡扣连接,以实现所述背板与所述腰背板的间距调节;In one of the embodiments, at least two first adjustment holes are arranged at intervals along the height direction of the passive lower extremity exoskeleton on the back support bar, and the waist back plate can be selectively connected with any The first adjustment hole is buckled and connected to realize the distance adjustment between the backboard and the waist backboard;
所述背部托板向上倾斜设置并与所述背板之间呈锐角设置。The back supporting board is arranged obliquely upwards and is arranged at an acute angle with the backboard.
在其中一个实施例中,所述腰背板上沿水平方向开设有腰型孔,所述腰背调节锁紧装置可滑动设置于所述腰型孔内固定,以实现所述腰部单元的宽度调节。In one of the embodiments, a waist-shaped hole is opened in the horizontal direction on the waist back plate, and the waist-back adjusting and locking device can be slidably arranged in the waist-shaped hole and fixed to realize the width of the waist unit. adjust.
在其中一个实施例中,所述大腿单元包括大腿支撑条、大腿骨架和大腿关节座,所述小腿单元包括小腿关节座,所述大腿关节座与所述小腿关节座通过所述膝关节转动连接;所述大腿骨架通过所述大腿支撑条与所述髋关节相连,所述大腿骨架采用中空结构设计,所述蓄 能支撑机构设置于所述大腿骨架的中空腔内;In one of the embodiments, the thigh unit includes a thigh support bar, a thigh skeleton, and a thigh joint seat, and the calf unit includes a calf joint seat, and the thigh joint seat and the calf joint seat are rotatably connected through the knee joint ; The thigh frame is connected to the hip joint through the thigh support bar, the thigh frame adopts a hollow structure design, and the energy storage support mechanism is arranged in the hollow cavity of the thigh frame;
所述蓄能支撑机构包括拉绳压块、拉绳和大腿压簧,所述大腿压簧设置于所述拉绳压块与所述小腿关节座之间,所述拉绳的一端与所述拉绳压块连接,另一端穿过大腿关节座后与所述小腿关节座连接。The energy storage support mechanism includes a stay cord pressing block, a stay cord and a thigh compression spring, the thigh compression spring is arranged between the stay cord pressing block and the calf joint seat, one end of the stay cord is connected to the The stay rope pressing block is connected, and the other end passes through the thigh joint seat and is connected with the calf joint seat.
在其中一个实施例中,所述蓄能支撑机构还包括拉绳长度调节组件,所述小腿单元还包括与所述小腿关节座连接的小腿骨架,所述小腿骨架采用中空结构设计,所述拉绳长度调节组件设置于所述小腿骨架的中空腔内并与所述拉绳相连,所述拉绳长度调节组件用于调节所述拉绳的初始长度以实现对所述大腿压簧的初始弹力的无级调节。In one of the embodiments, the energy storage support mechanism further includes a drawstring length adjustment assembly, and the lower leg unit further includes a lower leg frame connected to the lower leg joint seat, the lower leg frame adopts a hollow structure design, and the puller The cord length adjustment assembly is arranged in the hollow cavity of the calf frame and connected with the stay cord, the draw cord length adjustment assembly is used to adjust the initial length of the draw cord to achieve the initial elastic force on the thigh compression spring stepless adjustment.
在其中一个实施例中,所述大腿支撑条沿所述无源下肢型外骨骼的高度方向间隔设置有至少两个第二调节孔,所述大腿骨架通过卡扣能够择一与任一所述第二调节孔卡扣连接,以实现所述大腿单元的长度调节;In one of the embodiments, at least two second adjustment holes are arranged at intervals along the height direction of the passive lower extremity exoskeleton on the thigh support bar, and the thigh frame can be selected to be connected to any one of the thigh frames through a buckle. The second adjustment hole is snap-connected to realize the length adjustment of the thigh unit;
所述大腿单元还包括大腿挡板和大腿绑带,所述大腿挡板设置于所述大腿骨架上,所述大腿绑带连接于所述大腿挡板与所述大腿骨架之间;The thigh unit also includes a thigh baffle and a thigh strap, the thigh baffle is arranged on the thigh frame, and the thigh strap is connected between the thigh baffle and the thigh frame;
所述大腿挡板开设有第一散热孔。The thigh baffle is provided with a first cooling hole.
在其中一个实施例中,所述小腿单元还包括小腿支撑条,所述小腿骨架与所述小腿支撑条连接,所述小腿支撑条通过所述踝关节与所述脚部单元活动连接;In one embodiment, the calf unit further includes a calf support bar, the calf frame is connected to the calf support bar, and the calf support bar is movably connected to the foot unit through the ankle joint;
所述小腿支撑条沿所述无源下肢型外骨骼的高度方向开设有间隔设置的至少两个第三调节孔,所述小腿骨架通过卡扣能够择一与任一所述第三调节孔卡扣连接,以实现所述小腿单元的长度调节。The calf support bar is provided with at least two third adjustment holes arranged at intervals along the height direction of the passive lower extremity exoskeleton, and the calf frame can be locked with any one of the third adjustment holes through buckles. Buckle connection to achieve length adjustment of the lower leg unit.
在其中一个实施例中,所述小腿单元还包括小腿挡板和小腿绑带,所述小腿挡板设置于所述小腿骨架上,所述小腿绑带连接于所述小腿挡板与所述小腿骨架支架;In one of the embodiments, the calf unit further includes a calf shield and a calf strap, the calf shield is arranged on the calf frame, and the calf strap is connected to the calf shield and the calf strap. Skeleton support;
所述小腿挡板开设有第二散热孔。The lower leg baffle is provided with a second cooling hole.
在其中一个实施例中,所述脚部单元包括踝关节支撑座、脚底板和脚部绑带,所述踝关节通过所述踝关节支撑座连接于所述脚底板上,所述脚部绑带设置于所述脚底板上;In one of the embodiments, the foot unit includes an ankle support base, a sole plate and a foot strap, the ankle joint is connected to the sole plate through the ankle support base, and the foot strap a strap is disposed on the sole plate;
所述脚部绑带设置有调节扣,所述调节扣用于使所述脚部绑带的长度可调。The foot strap is provided with an adjustment buckle, and the adjustment buckle is used to make the length of the foot strap adjustable.
附图说明Description of drawings
构成本申请的一部分的附图用来提供对本申请的理解,本申请的示意性实施例及其说明用于解释本申请,并不构成对本申请的不当限定。The drawings constituting a part of the application are used to provide understanding of the application, and the schematic embodiments and descriptions of the application are used to explain the application, and do not constitute an improper limitation of the application.
为了更清楚地说明本申请实施例中的技术方案,下面将对实施例描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. For Those of ordinary skill in the art can also obtain other drawings based on these drawings without making creative efforts.
图1为本申请一实施例所述的无源下肢型外骨骼的结构示意图;Fig. 1 is a schematic structural diagram of a passive lower limb exoskeleton described in an embodiment of the present application;
图2为图1的另一视角的结构示意图。FIG. 2 is a structural schematic diagram from another perspective of FIG. 1 .
附图标记说明:Explanation of reference signs:
10、背部单元;11、背部托板;12、背板;13、背部支撑条;14、背带;20、重物;30、腰部单元;31、腰背板;32、腰部支撑杆;33、腰带;40、髋关节;50、大腿单元;51、大腿支撑条;52、大腿骨架;53、大腿关节座;54、大腿挡板;541、第一散热孔;55、大腿绑带;60、膝关节;70、小腿单元;71、小腿关节座;72、小腿支撑条;73、小腿挡板;731、第二散热孔;74、小腿绑带;75、小腿骨架;80、蓄能支撑机构;81、拉绳压块;82、拉绳;83、大腿压簧;90、踝关节;100、脚部单元;110、踝关节支撑座;120、脚底板;130、脚部绑带;200、腰背调节锁紧装置;300、拉绳长度调节组件。10. back unit; 11. back supporting plate; 12. backboard; 13. back support bar; 14. strap; 20. heavy object; 30. waist unit; 31. backboard; 32. lumbar support bar; Belt; 40, hip joint; 50, thigh unit; 51, thigh support bar; 52, thigh frame; 53, thigh joint seat; 54, thigh baffle; 541, first cooling hole; 55, thigh strap; 60, Knee joint; 70, calf unit; 71, calf joint seat; 72, calf support bar; 73, calf baffle; 731, second cooling hole; 74, calf strap; 75, calf frame; 80, energy storage support mechanism ; 81, drawstring pressing block; 82, drawstring; 83, thigh compression spring; 90, ankle joint; 100, foot unit; 110, ankle support seat; 120, sole plate; 130, foot strap; , Lumbar adjustment locking device; 300, Drawstring length adjustment assembly.
具体实施方式detailed description
为使本申请的上述目的、特征和优点能够更加明显易懂,下面结合附图对本申请的实施方式做详细的说明。在下面的描述中阐述了很多细节以便于充分理解本申请。但是本申请能够以很多不同于在此描述的其它方式来实施,本领域技术人员可以在不违背本申请内涵的情况下做类似改进,因此本申请不受下面公开的实施例的限制。In order to make the above-mentioned purpose, features and advantages of the present application more obvious and understandable, the implementation manners of the present application will be described in detail below in conjunction with the accompanying drawings. In the following description, numerous details are set forth in order to provide a thorough understanding of the application. However, the present application can be implemented in many other ways different from those described here, and those skilled in the art can make similar improvements without departing from the connotation of the present application, so the present application is not limited by the embodiments disclosed below.
如图1所示,为本申请一实施例展示的一种无源下肢型外骨骼,无源下肢型外骨骼的设计可以帮助人类负重行走,增强行走能力和速度,减轻长途跋涉负重后的疲劳。因此其不仅在军事领域具有重要的应用价值,还可广泛应用于抢险救灾、攀登、建筑与工业辅助等民用领域。As shown in Figure 1, it is a passive lower extremity exoskeleton shown in an embodiment of the present application. The design of the passive lower extremity exoskeleton can help humans walk with weight, enhance walking ability and speed, and reduce fatigue after long journeys and heavy loads . Therefore, it not only has important application value in the military field, but also can be widely used in civilian fields such as emergency rescue, disaster relief, climbing, construction and industrial assistance.
无源下肢型外骨骼主要根据仿生学的思想,为穿戴者设计一套体外支架,通过将外挂物重量传导到地面的同时,放大穿戴者的肢体动感,做到既增强士兵作业能力,又保持其行动灵活性的,它不受地面路况、天气环境、作业时间与空间的约束,其拟人化结构设计可以使外骨骼与使用者的四肢运动保持协调一致,负重通过外骨骼骨架转移到腿部与地面,士兵感受的负重为实际负重的40%甚至更低,从而极大地减少士兵的体能消耗,使其在高强度作业后仍然保持较充沛的体能,提高作业效率。单兵作业,例如是针对单兵在高寒高海拔环境下的携行机动、巡逻、作战等作业的迫切应用需求,研究以增强人体负重能力,降低人体代谢消耗为主要设计目标的无源下肢型外骨骼,具有重要的意义。The passive lower extremity exoskeleton mainly designs a set of external supports for the wearer based on the idea of bionics. By transmitting the weight of the external objects to the ground, it amplifies the movement of the wearer's limbs, so as to enhance the soldier's operational ability and maintain Its mobility is flexible, it is not restricted by ground road conditions, weather conditions, working time and space, and its anthropomorphic structural design can make the exoskeleton and the user's limbs move in harmony, and the load is transferred to the legs through the exoskeleton skeleton Compared with the ground, the load that soldiers feel is 40% or even lower than the actual load, which greatly reduces the physical energy consumption of soldiers, enables them to maintain sufficient physical energy after high-intensity operations, and improves operational efficiency. Individual operations, for example, are aimed at the urgent application needs of individual soldiers for carrying maneuvers, patrols, and combat operations in high-cold and high-altitude environments. Research on passive lower limbs with the main design goals of enhancing the body's weight-bearing capacity and reducing human metabolic consumption. Bones are of great significance.
请继续参阅图1和图2,示例性地,本实施例中所述无源下肢型外骨骼包括:背部单元10、腰部单元30、髋关节40、大腿单元50、膝关节60、小腿单元70、蓄能支撑机构80、脚部单元100以及踝关节90。Please continue to refer to FIG. 1 and FIG. 2. Exemplarily, the passive lower extremity exoskeleton in this embodiment includes: a back unit 10, a waist unit 30, a hip joint 40, a thigh unit 50, a knee joint 60, and a lower leg unit 70 , the energy storage support mechanism 80 , the foot unit 100 and the ankle joint 90 .
所述背部单元10包括背部托板11,所述背部托板11用于装载重物20;所述腰部单元 30与所述背部单元10活动连接;所述背部单元10通过所述髋关节40与所述大腿单元50活动连接;所述大腿单元50通过所述膝关节60与所述小腿单元70活动连接;所述蓄能支撑机构80设置于所述大腿单元50内并与所述小腿单元70连接,且在所述大腿单元50相对所述小腿单元70发生弯曲时,所述蓄能支撑机构80进行蓄能,在所述大腿单元50与所述小腿单元70恢复直立位姿时,所述蓄能支撑机构80自动释放支撑力;所述小腿单元70通过所述踝关节90与所述脚部单元100活动连接。The back unit 10 includes a back support plate 11, and the back support plate 11 is used for loading a weight 20; the waist unit 30 is movably connected with the back unit 10; The thigh unit 50 is movably connected; the thigh unit 50 is movably connected with the shank unit 70 through the knee joint 60 ; connected, and when the thigh unit 50 is bent relative to the calf unit 70, the energy storage support mechanism 80 stores energy, and when the thigh unit 50 and the calf unit 70 return to an upright position, the The energy storage supporting mechanism 80 automatically releases the supporting force; the calf unit 70 is movably connected with the foot unit 100 through the ankle joint 90 .
综上,实施本实施例技术方案将具有如下有益效果:上述方案的无源下肢型外骨骼用于使穿戴者穿戴在身上,例如穿戴在身体的背部及以下的下肢部位,用以减轻穿戴者进行负重劳动时的体力损耗。在一个实施例中,穿戴者在搬运重物20时,可以将重物20放置在背部托板11上,此时,重物20产生的重力经由背部托板11传递至腰部单元30,之后沿着腰部单元30、髋关节40、大腿单元50、膝关节60、小腿单元70、踝关节90再到脚部单元100,最终从脚部单元100传递至地面,整个重力的传递路径笔直向下,传力路径短,重力传导到地面高效,可有效减轻穿戴者的负重;此外,当穿戴者到达目的地将重物20释放到地面上时,此时穿戴者身体产生弯曲,也即大腿单元50会相对小腿单元70产生弯曲,蓄能支撑机构80开始进行蓄能;在重物20放置完毕后,蓄能支撑机构80会自动释放支撑力,从而支撑大腿单元50相对小腿单元70向上转动并恢复至直立位姿,实现为人体膝关节60提供助力,减轻人体膝关节60的受力以及穿戴者恢复站姿所需的用力,协助穿戴者进行负重劳动时可以更加舒适和安全且高效。To sum up, the implementation of the technical solution of this embodiment will have the following beneficial effects: the passive lower limb type exoskeleton of the above solution is used to be worn by the wearer, for example, on the back of the body and the lower limbs below, so as to relieve the wearer's Physical exertion when performing heavy labor. In one embodiment, when the wearer is carrying the heavy object 20, he can place the heavy object 20 on the back support plate 11. At this time, the gravity generated by the heavy object 20 is transmitted to the waist unit 30 through the back support plate 11, and then along the From the waist unit 30, the hip joint 40, the thigh unit 50, the knee joint 60, the calf unit 70, the ankle joint 90 to the foot unit 100, and finally from the foot unit 100 to the ground, the entire gravity transmission path is straight downward, The force transmission path is short, and the gravity is efficiently transmitted to the ground, which can effectively reduce the wearer's load; in addition, when the wearer reaches the destination and releases the weight 20 to the ground, the wearer's body bends at this time, that is, the thigh unit 50 The calf unit 70 will be bent, and the energy storage support mechanism 80 starts to store energy; after the weight 20 is placed, the energy storage support mechanism 80 will automatically release the support force, thereby supporting the thigh unit 50 to rotate upward relative to the calf unit 70 and recover. To the upright posture, it can provide assistance for the human knee joint 60, reduce the force on the human knee joint 60 and the wearer's effort to restore the standing posture, and assist the wearer to carry out heavy-duty labor more comfortably, safely and efficiently.
请继续参阅图1和图2,在上述实施例中,所述无源下肢型外骨骼还包括腰背调节锁紧装置200,所述背部单元10还包括背板12、背部支撑条13和背带14,所述腰部单元30包括腰背板31和腰部支撑杆32,所述背部托板11转动设置于所述腰背板31上,所述背板12通过所述背部支撑条13与所述腰背板31连接,所述背带14与所述背板12连接并用于固定在穿戴者的肩部上;所述腰背板31通过所述腰背调节锁紧装置200与所述腰部支撑杆32的一端可调锁紧连接,所述腰部支撑杆32的另一端与所述髋关节40连接。Please continue to refer to Fig. 1 and Fig. 2, in the above embodiment, the passive lower extremity exoskeleton also includes a back adjustment and locking device 200, and the back unit 10 also includes a backboard 12, a back support bar 13 and a strap 14. The lumbar unit 30 includes a back plate 31 and a lumbar support rod 32, the back support plate 11 is rotatably arranged on the back plate 31, and the back plate 12 connects with the back support bar 13 to the The back panel 31 is connected, the strap 14 is connected with the back panel 12 and used to be fixed on the wearer's shoulders; One end of the lumbar support rod 32 is adjustable and locked, and the other end of the lumbar support rod 32 is connected to the hip joint 40 .
背部单元10中,背部托板11和背板12充当主要的承力部件,当重物20放置到背部托板11上后,首先承载重物20的重力并将重力进行传递。此时背部承受的负重重量通过背部托板11一部分通过背部支撑条13和背板12向上传递给背带14,从而由穿戴者的肩部承担。另一部分重量则会通过腰背板31向下传递到腰部单元30。In the back unit 10 , the back supporting board 11 and the back board 12 act as main load-bearing components. When the weight 20 is placed on the back supporting board 11 , it first bears the gravity of the heavy object 20 and transmits the gravity. At this time, the load on the back is passed upwards to the straps 14 through the back supporting plate 11 through the back support bar 13 and the backboard 12, thereby being borne by the wearer's shoulders. Another part of the weight will be transmitted downwards to the lumbar unit 30 through the back panel 31 .
请继续参阅图1,腰部单元30包括腰带33,腰带33的两端分别与两侧的髋关节40连接,背带14设置为两根,且一端与腰带33相连,实现背部单元10与穿戴者背部紧固绑接。Please continue to refer to Fig. 1, the waist unit 30 includes a waist belt 33, the two ends of the waist belt 33 are respectively connected with the hip joints 40 on both sides, the back straps 14 are set to two, and one end is connected with the waist belt 33, so that the back unit 10 is connected to the back of the wearer. Fasten the binding.
腰背板31能够通过腰背调节锁紧装置200与腰部支撑杆32活动调节,从而根据不同穿 戴者的背部长度调整背部单元10的长度,之后将腰背调节锁紧装置200锁紧,使背部单元10能够很好的适用当前穿戴者。The back panel 31 can be regulated by the back adjustment and locking device 200 and the waist support bar 32, thereby adjusting the length of the back unit 10 according to the back length of different wearers, and then locking the back adjustment and locking device 200 to make the back Unit 10 is well adapted to the current wearer.
在一些实施例中,所述背部支撑条13上沿所述无源下肢型外骨骼的高度方向间隔开设有至少两个第一调节孔,所述腰背板31通过卡扣可择一与任一所述第一调节孔卡扣连接,以实现所述背板12与所述腰背板31的间距调节,也即完成背部单元10的长度调节,从而使背部单元10能够适配不同穿戴者的穿戴需要,提升外骨骼装置的适用范围。In some embodiments, the back support bar 13 is provided with at least two first adjustment holes at intervals along the height direction of the passive lower extremity exoskeleton. One of the first adjustment holes is buckled and connected to realize the distance adjustment between the back panel 12 and the waist back panel 31, that is, to complete the length adjustment of the back unit 10, so that the back unit 10 can be adapted to different wearers The wearable needs of the exoskeleton device can be improved.
请继续参阅图2,所述背部托板11向上倾斜设置并与所述背板12之间呈锐角设置。本实施例中背部托板11与背板12间的夹角为75°。这样能够防止背部负重向后滑落,且可使重物20的中心更加贴靠穿戴者背部,减小重物20对人体腰部的力矩,使穿戴者感受到的负重感更低,提升穿戴者舒适感。Please continue to refer to FIG. 2 , the back supporting board 11 is arranged inclined upward and forms an acute angle with the back board 12 . In this embodiment, the angle between the back support plate 11 and the back plate 12 is 75°. This can prevent the weight on the back from slipping backwards, and can make the center of the weight 20 more close to the wearer's back, reducing the moment of the weight 20 on the waist of the human body, making the wearer feel a lower sense of weight, and improving the wearer's comfort. feel.
在一个实施例中,所述腰背板31上沿水平方向开设有腰型孔,所述腰背调节锁紧装置200可滑动设置于所述腰型孔内固定,以实现所述腰部单元30的宽度调节。例如,腰型孔的长度设置为60mm。腰背调节锁紧装置200采用螺钉。当螺钉在腰型孔内滑动且调节到位时,锁紧螺钉,此时完成了对腰部单元30的宽度的灵活调节,从而满足具有不同体格宽度的穿戴者的穿戴需要。In one embodiment, a waist-shaped hole is opened on the waist-back board 31 along the horizontal direction, and the waist-back adjusting and locking device 200 can be slidably arranged and fixed in the waist-shaped hole, so as to realize the waist unit 30 width adjustment. For example, the length of the waist hole is set to 60mm. Back adjusting locking device 200 adopts screw. When the screw slides in the waist hole and is adjusted in place, the screw is locked, and the flexible adjustment of the width of the waist unit 30 is completed at this time, thereby meeting the wearing needs of wearers with different physique widths.
本方案中,髋关节40设置了三个空间方向的旋转自由度,分别为屈曲/伸展、内收/外摆与左旋/右旋自由度,以匹配人体的髋关节40运动。腰带33实现了外骨骼腰部单元30与人体腰部的连接,在一个实施例中,腰带33的一端通过魔术贴、夹板螺钉等连接结构连接到外骨骼腰部单元30上,另一端通过织带、插扣与环扣等连接结构绑缚到人体腰部上。In this solution, the hip joint 40 is provided with three rotational degrees of freedom in spatial directions, which are respectively flexion/extension, adduction/swing and left/right rotation degrees of freedom, so as to match the movement of the hip joint 40 of the human body. The waist belt 33 realizes the connection between the exoskeleton waist unit 30 and the waist of the human body. In one embodiment, one end of the waist belt 33 is connected to the exoskeleton waist unit 30 through a connection structure such as Velcro, splint screws, and the other end is connected to the exoskeleton waist unit 30 through a ribbon, a buckle, etc. It is bound to the waist of the human body with connecting structures such as ring buckles.
请继续参阅图1和图2,在一些实施例中,所述大腿单元50包括大腿支撑条51、大腿骨架52和大腿关节座53,所述小腿单元70包括小腿关节座71,所述大腿关节座53与所述小腿关节座71通过所述膝关节60转动连接;所述大腿骨架52通过所述大腿支撑条51与所述髋关节40相连,所述大腿骨架52采用中空结构设计,所述蓄能支撑机构80设置于所述大腿骨架52的中空腔内。Please continue to refer to Figures 1 and 2, in some embodiments, the thigh unit 50 includes a thigh support bar 51, a thigh frame 52, and a thigh joint seat 53, and the calf unit 70 includes a calf joint seat 71, and the thigh joint Seat 53 is rotationally connected with said calf joint seat 71 through said knee joint 60; said thigh frame 52 is connected with said hip joint 40 through said thigh support bar 51, said thigh frame 52 adopts hollow structure design, said The energy storage supporting mechanism 80 is arranged in the hollow cavity of the thigh frame 52 .
背部单元10向下传递的重量会进入大腿单元50,在一个实施例中,重量会通过大腿支撑条51传递至大腿骨架52,之后传递到大腿关节座53上,实现对重物20重量的进一步向地面传递。The weight that the back unit 10 transmits downwards can enter the thigh unit 50, and in one embodiment, the weight can be transmitted to the thigh frame 52 through the thigh support bar 51, and then to the thigh joint seat 53, so as to further increase the weight of the weight 20. Pass to the ground.
将蓄能支撑机构80安装在大腿骨架52的中空腔内,大腿骨架52对蓄能支撑机构80形成隐藏安装,不仅使外骨骼装置更加美观,同时大腿骨架52对蓄能支撑机构80也起到保护作用。The energy storage support mechanism 80 is installed in the hollow cavity of the thigh frame 52, and the thigh frame 52 forms a hidden installation for the energy storage support mechanism 80, which not only makes the exoskeleton device more beautiful, but also plays a role in the energy storage support mechanism 80 by the thigh frame 52. Protective effects.
请继续参阅图2,在一些实施例中,所述蓄能支撑机构80包括拉绳压块81、拉绳82和 大腿压簧83,所述大腿压簧83设置于所述拉绳压块81与所述小腿关节座71之间,所述拉绳82的一端与所述拉绳压块81连接,另一端穿过大腿关节座53后与所述小腿关节座71连接。当膝关节60弯曲的时候,拉绳82下移,将带动拉绳压块81压缩大腿压簧83,实现能量存储,并在膝关节60从弯曲恢复到直立的过程中释放能量,给人体膝关节60提供助力,以减轻人体膝关节60受力。Please continue to refer to FIG. 2 , in some embodiments, the energy storage support mechanism 80 includes a drawstring pressing block 81 , a drawstring 82 and a thigh compression spring 83 , and the thigh compression spring 83 is arranged on the drawstring pressing block 81 Between the calf joint seat 71 , one end of the stay cord 82 is connected to the draw cord pressing block 81 , and the other end is connected to the calf joint seat 71 after passing through the thigh joint seat 53 . When the knee joint 60 bends, the drawstring 82 moves down, which will drive the drawstring press block 81 to compress the thigh compression spring 83, realize energy storage, and release energy when the knee joint 60 recovers from bending to upright, giving human knee The joint 60 provides assistance to reduce the stress on the knee joint 60 of the human body.
膝关节60设定一个屈曲/伸展方向自由度,在膝关节60弯曲过程中,拉绳82沿着小腿关节座71的外轮廓面旋转。外轮廓采用凸轮形线,在拉绳82从开始缠绕到60度位置时,凸轮直径为35mm;在大于60度位置时,凸轮直径变为50mm;凸轮的大圆轮廓与小圆轮廓采用平滑过渡连接。The knee joint 60 sets a degree of freedom in the direction of flexion/extension. During the bending process of the knee joint 60 , the stay rope 82 rotates along the outer contour surface of the calf joint seat 71 . The outer contour adopts a cam-shaped line. When the pull rope 82 is wound from the beginning to the 60-degree position, the cam diameter is 35mm; when the position is greater than 60 degrees, the cam diameter becomes 50mm; the large circle contour and the small circle contour of the cam are connected by a smooth transition .
请继续参阅图2,在一个实施例中,所述蓄能支撑机构80还包括拉绳长度调节组件300,所述小腿单元70还包括与所述小腿关节座71连接的小腿骨架75,所述小腿骨架75采用中空结构设计,所述拉绳长度调节组件300设置于所述小腿骨架75的中空腔内并与所述拉绳82相连,所述拉绳长度调节组件300用于调节所述拉绳82的初始长度以实现对所述大腿压簧83的初始弹力的无级调节。从而可改变膝关节60弯曲过程的被动拉伸力与直立过程的恢复力,满足不同负重工况下对穿戴者的支撑力需求。拉绳82穿过大腿关节座53后,穿过小腿关节座71,与拉绳82长度调节装置固定连接。此时拉绳82被隐藏在大腿关节座53和小腿关节座71内部,既保证拉绳82安全、又提高了外骨骼装置的美观度。Please continue to refer to FIG. 2 , in one embodiment, the energy storage support mechanism 80 also includes a drawstring length adjustment assembly 300 , and the lower leg unit 70 also includes a lower leg frame 75 connected to the lower leg joint seat 71 , the The calf frame 75 adopts a hollow structure design, and the drawstring length adjustment assembly 300 is arranged in the hollow cavity of the calf frame 75 and connected with the drawstring 82, and the drawstring length adjustment assembly 300 is used to adjust the drawstring length. The initial length of the rope 82 is used to realize the stepless adjustment of the initial elastic force of the thigh compression spring 83. Therefore, the passive stretching force in the bending process of the knee joint 60 and the restoring force in the erecting process can be changed to meet the supporting force requirements of the wearer under different load-bearing conditions. After the stay cord 82 passes through the thigh joint seat 53, it passes through the calf joint seat 71 and is fixedly connected with the stay cord 82 length adjusting device. At this time, the stay cord 82 is hidden inside the thigh joint seat 53 and the calf joint seat 71, which not only ensures the safety of the stay cord 82, but also improves the aesthetics of the exoskeleton device.
在其中一个实施例中,所述大腿支撑条51沿所述无源下肢型外骨骼的高度方向间隔设置有至少两个第二调节孔,所述大腿骨架52通过卡扣能够择一与任一所述第二调节孔卡扣连接,以实现所述大腿单元50的长度调节。例如,本实施例中大腿支撑条51上均布有8个宽10mm、间距15mm的方形孔,根据不同穿戴者的身高,大腿骨架52通过卡扣可与任意一个第二调节孔卡扣连接,从而获得不同长度的大腿单元50,以适应不同人群的大腿段长度,提高外骨骼装置的适用能力。In one of the embodiments, the thigh support bar 51 is provided with at least two second adjustment holes at intervals along the height direction of the passive lower extremity exoskeleton, and the thigh frame 52 can be connected to any The second adjustment hole is snap-connected to realize the length adjustment of the thigh unit 50 . For example, in the present embodiment, eight square holes with a width of 10 mm and a spacing of 15 mm are evenly distributed on the thigh support bar 51. According to the height of different wearers, the thigh frame 52 can be buckled and connected to any second adjustment hole through buckles. In this way, thigh units 50 of different lengths can be obtained to adapt to the lengths of the thighs of different people and improve the applicability of the exoskeleton device.
请继续参阅图1和图2,此外,所述大腿单元50还包括大腿挡板54和大腿绑带55,所述大腿挡板54设置于所述大腿骨架52上,所述大腿绑带55连接于所述大腿挡板54与所述大腿骨架52之间。大腿挡板54与大腿骨架52采用螺钉固定连接,连接稳固可靠。大腿挡板54与穿戴者大腿紧密贴合,其作用是将人机交互力沿法线方向传递到人体大腿,大腿挡板54设置尽可能大的面积,以减轻局部压强。大腿绑带55用于保证大腿挡板54与穿戴者大腿紧密贴合。可选地,大腿绑带55采用带有弹性的纺织材料,并通过魔术贴实现粘连固定。Please continue to refer to Fig. 1 and Fig. 2, in addition, the thigh unit 50 also includes a thigh baffle 54 and a thigh strap 55, the thigh baffle 54 is arranged on the thigh frame 52, and the thigh strap 55 is connected to between the thigh guard 54 and the thigh frame 52 . The thigh baffle plate 54 and the thigh frame 52 are fixedly connected by screws, and the connection is stable and reliable. The thigh baffle 54 fits closely with the wearer's thigh, and its function is to transmit the human-machine interaction force to the human thigh along the normal direction. The thigh baffle 54 is set with as large an area as possible to reduce local pressure. The thigh straps 55 are used to ensure that the thigh shield 54 fits closely with the wearer's thighs. Optionally, the thigh strap 55 is made of an elastic textile material, and is adhered and fixed by Velcro.
请继续参阅图2,所述大腿挡板54开设有第一散热孔541。以达到减重与散热的目的。在一个实施例中,第一散热孔541设置为间隔布置的三个,且散热孔采用椭圆形通孔,以进 一步加强减重和散热效果。Please continue to refer to FIG. 2 , the thigh baffle 54 defines a first cooling hole 541 . In order to achieve the purpose of weight reduction and heat dissipation. In one embodiment, three first heat dissipation holes 541 are provided at intervals, and the heat dissipation holes adopt oval through holes to further enhance weight reduction and heat dissipation effects.
请继续参阅图2,在上述任一实施例的基础上,所述小腿单元70还包括小腿支撑条72,所述小腿骨架75与所述小腿支撑条72连接,所述小腿支撑条72通过所述踝关节90与所述脚部单元100活动连接。从大腿单元50向下传递的重量会进一步通过小腿骨架75传递至小腿支撑条72上,并最终由踝关节90和脚部单元100传递至地面,以此实现对穿戴者的负重减轻。Please continue to refer to FIG. 2 , on the basis of any of the above-mentioned embodiments, the calf unit 70 further includes a calf support bar 72 , the calf frame 75 is connected to the calf support bar 72 , and the calf support bar 72 passes through the The ankle joint 90 is movably connected with the foot unit 100 . The weight transmitted downward from the thigh unit 50 will be further transmitted to the calf support bar 72 through the calf frame 75 , and finally transmitted to the ground by the ankle joint 90 and the foot unit 100 , so as to reduce the load on the wearer.
所述小腿支撑条72沿所述无源下肢型外骨骼的高度方向开设有间隔设置的至少两个第三调节孔,所述小腿骨架75通过卡扣能够择一与任一所述第三调节孔卡扣连接,以实现所述小腿单元70的长度调节。以适应不同人群的小腿段长度,提升外骨骼装置的适用范围。The calf support bar 72 is provided with at least two third adjustment holes arranged at intervals along the height direction of the passive lower extremity exoskeleton, and the calf frame 75 can choose one or any of the third adjustment holes through a buckle. The holes are snap-connected to realize the length adjustment of the lower leg unit 70 . In order to adapt to the length of the calf segment of different groups of people, the scope of application of the exoskeleton device is improved.
请继续参阅图1和图2,在一个实施例中,所述小腿单元70还包括小腿挡板73和小腿绑带74,所述小腿挡板73设置于所述小腿骨架75上,所述小腿绑带74连接于所述小腿挡板73与所述小腿骨架75支架。小腿挡板73与小腿骨架75采用螺钉固定连接,小腿挡板73与穿戴者小腿紧密贴合,其作用是将人机交互力沿法线方向传递到人体小腿,小腿挡板73设置尽可能大的面积,以减轻局部压强。小腿绑带74用于保证小腿挡板73与穿戴者小腿紧密贴合,小腿绑带74分别与小腿挡板73和小腿骨架75固定连接,小腿绑带74采用带有弹性的纺织材料,并通过魔术贴实现粘连固定。Please continue to refer to Fig. 1 and Fig. 2, in one embodiment, the calf unit 70 further includes a calf shield 73 and a calf strap 74, the calf shield 73 is arranged on the calf frame 75, and the calf The strap 74 is connected to the lower leg shield 73 and the lower leg frame 75 bracket. The calf baffle 73 and the calf frame 75 are fixedly connected by screws. The calf baffle 73 is closely attached to the wearer's calf. Its function is to transfer the human-computer interaction force to the human calf along the normal direction. The calf baffle 73 is set as large as possible. area to relieve local pressure. The calf strap 74 is used to ensure that the calf baffle 73 fits closely with the wearer's calf. The calf strap 74 is fixedly connected with the calf baffle 73 and the calf frame 75 respectively. The calf strap 74 is made of elastic textile material and passed through Velcro for adhesive fixation.
请继续参阅图1,所述小腿挡板73开设有第二散热孔731。以达到减重与散热的目的。在一实施例中,第二散热孔731设置为间隔布置的两个,且散热孔采用椭圆形通孔,孔面积大,以进一步加强减重和散热效果。Please continue to refer to FIG. 1 , the lower leg shield 73 defines a second cooling hole 731 . In order to achieve the purpose of weight reduction and heat dissipation. In one embodiment, the second heat dissipation holes 731 are arranged as two at intervals, and the heat dissipation holes are elliptical through holes with a large hole area to further enhance weight reduction and heat dissipation effects.
此外,在上述任一实施例的基础上,所述脚部单元100包括踝关节支撑座110、脚底板120和脚部绑带130,所述踝关节90通过所述踝关节支撑座110连接于所述脚底板120上,所述脚部绑带130设置于所述脚底板120上。脚部单元100通过踝关节90与踝关节支撑座110连接,将从小腿单元70传递过来的重物20重力传递到地面,由于这部分重力没有经过人体肌肉与内骨架的传递,因此可达到减轻人体负重的目的。踝关节90设定两个方向的自由度,分别为前屈/后伸、内收/外摆,脚部踝关节90的左旋/右旋自由度与髋关节40共用;外骨骼踝关节90的自由度与人体踝关节90的自由度完全匹配,以实现外骨骼与人体运动的一致。In addition, on the basis of any of the above-mentioned embodiments, the foot unit 100 includes an ankle joint support base 110 , a sole plate 120 and a foot strap 130 , and the ankle joint 90 is connected to the ankle joint support base 110 On the sole plate 120 , the foot strap 130 is disposed on the sole plate 120 . The foot unit 100 is connected with the ankle support base 110 through the ankle joint 90, and transmits the gravity of the weight 20 transmitted from the calf unit 70 to the ground. The purpose of human weight bearing. Ankle joint 90 sets degrees of freedom in two directions, which are respectively forward flexion/extension, adduction/outward swing, left-handed/right-handed degree of freedom of ankle joint 90 shares with hip joint 40; exoskeleton ankle joint 90 The degrees of freedom fully match the 90 degrees of freedom of the human ankle joint, so as to realize the consistency between the exoskeleton and the movement of the human body.
本实施例中踝关节支撑座110与绑带间采用螺钉固连,绑带另一端与脚底板120连接。In this embodiment, the ankle support base 110 is fixedly connected to the strap with screws, and the other end of the strap is connected to the sole plate 120 .
脚部单元100通过脚部的前后绑带与脚底板120将人脚紧密包裹,所述脚部绑带130设置有调节扣,所述调节扣用于使所述脚部绑带130的长度可调,以适应不同人脚的大小。可选地,调节扣可以是但不限于磁扣、伸缩扣等。The foot unit 100 tightly wraps the human foot through the front and rear straps of the feet and the sole plate 120. The foot strap 130 is provided with an adjustment buckle, and the adjustment buckle is used to make the length of the foot strap 130 adjustable. Adjustable to suit the size of different people's feet. Optionally, the adjustment buckle may be, but not limited to, a magnetic buckle, a retractable buckle, and the like.
综上,在人体穿戴外骨骼后,将重物20放置到背部托板11上,重物20的部分重量将分别通过背部单元10、腰部单元30、大腿单元50、小腿单元70与脚部单元100传递到地面,例如为重物20的部分重量通过背部托板11传递到腰背板31,之后传递到腰部支撑杆32,然后通过髋关节40与大腿支撑条51将重力传递到大腿骨架52,之后分别经过大腿关节座53、小腿关节座71、小腿骨架75、小腿支撑条72、踝关节90与踝关节支撑座110,将重力传递到地面,从而实现对人体的负重减轻。To sum up, after the human body wears the exoskeleton, the weight 20 is placed on the back support plate 11, and part of the weight of the weight 20 will pass through the back unit 10, the waist unit 30, the thigh unit 50, the calf unit 70 and the foot unit respectively. 100 is transmitted to the ground, for example, part of the weight of the weight 20 is transmitted to the back plate 31 through the back support plate 11, and then to the waist support bar 32, and then the gravity is transmitted to the thigh frame 52 through the hip joint 40 and the thigh support bar 51 , and then through the thigh joint seat 53, the calf joint seat 71, the calf frame 75, the calf support bar 72, the ankle joint 90 and the ankle joint support seat 110, the gravity is transmitted to the ground, thereby reducing the load on the human body.
以上所述实施例的各技术特征可以进行任意的组合,为使描述简洁,未对上述实施例中的各个技术特征所有可能的组合都进行描述,然而,只要这些技术特征的组合不存在矛盾,都应当认为是本说明书记载的范围。The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.
以上所述实施例仅表达了本申请的几种实施方式,其描述较为详细,但并不能因此而理解为对本申请专利范围的限制。应当指出的是,对于本领域的普通技术人员来说,在不脱离本申请构思的前提下,还可以做出若干变形和改进,这些都属于本申请的保护范围。因此,本申请专利的保护范围应以所附权利要求为准。The above-mentioned embodiments only express several implementation modes of the present application, and the description thereof is relatively detailed, but should not be construed as limiting the patent scope of the present application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of protection of the patent application should be based on the appended claims.
在本申请的描述中,需要理解的是,术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本申请和简化描述,而不是指示或暗示所指的装置或元件具有特定的方位、以特定的方位构造和操作,因此不能理解为对本申请的限制。In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial" , "radial", "circumferential" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the application and simplifying the description, rather than indicating or implying the referred device or Elements have particular orientations, are constructed and operate in particular orientations, and therefore are not to be construed as limitations on the application.
此外,术语“第一”、“第二”仅用于描述目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此,限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本申请的描述中,“多个”的含义是至少两个,例如两个,三个等,除非另有明确限定。In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly defined.
在本申请中,除非另有明确的规定和限定,术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或成一体;可以是机械连接,也可以是电连接;可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通或两个元件的相互作用关系,除非另有明确的限定。对于本领域的普通技术人员而言,可以根据情况理解上述术语在本申请中的含义。In this application, terms such as "installation", "connection", "connection" and "fixation" should be interpreted in a broad sense, for example, it can be a fixed connection or a detachable connection, unless otherwise clearly specified and limited. , or integrated; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise specified limit. Those of ordinary skill in the art can understand the meanings of the above terms in this application according to the situation.
在本申请中,除非另有明确的规定和限定,第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触,或第一和第二特征通过中间媒介间接接触。而且,第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方,或表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特 征正下方或斜下方,或表示第一特征水平高度小于第二特征。In the present application, unless otherwise clearly specified and limited, a first feature being "on" or "under" a second feature may mean that the first and second features are in direct contact, or that the first and second features are indirect through an intermediary. touch. Moreover, "above", "above" and "above" the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or means that the level of the first feature is higher than that of the second feature. "Below", "beneath" and "beneath" the first feature may mean that the first feature is directly below or obliquely below the second feature, or that the first feature is less horizontally than the second feature.
需要说明的是,当元件被称为“固定于”或“设置于”另一个元件,它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件,它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“上”、“下”、“左”、“右”以及类似的表述只是为了说明的目的,并不表示是唯一的实施方式。It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions are for the purpose of illustration only and are not intended to represent the only embodiment.

Claims (10)

  1. 一种无源下肢型外骨骼,其中,所述无源下肢型外骨骼包括:A passive lower extremity exoskeleton, wherein the passive lower extremity exoskeleton includes:
    背部单元,所述背部单元包括背部托板,所述背部托板用于装载重物;a back unit, the back unit includes a back support plate, and the back support plate is used for loading heavy objects;
    腰部单元,所述腰部单元与所述背部单元活动连接;a waist unit, the waist unit is movably connected with the back unit;
    髋关节和大腿单元,所述背部单元通过所述髋关节与所述大腿单元活动连接;a hip joint and a thigh unit, the back unit is flexibly connected to the thigh unit through the hip joint;
    膝关节和小腿单元,所述大腿单元通过所述膝关节与所述小腿单元活动连接;a knee joint and a lower leg unit, the thigh unit is movably connected to the lower leg unit through the knee joint;
    蓄能支撑机构,所述蓄能支撑机构设置于所述大腿单元内并与所述小腿单元连接,且在所述大腿单元相对所述小腿单元发生弯曲时,所述蓄能支撑机构进行蓄能,在所述大腿单元与所述小腿单元恢复直立位姿时,所述蓄能支撑机构自动释放支撑力;以及An energy storage support mechanism, the energy storage support mechanism is arranged in the thigh unit and connected to the lower leg unit, and when the thigh unit bends relative to the lower leg unit, the energy storage support mechanism stores energy , when the thigh unit and the lower leg unit return to an upright posture, the energy storage support mechanism automatically releases the support force; and
    踝关节和脚部单元,所述小腿单元通过所述踝关节与所述脚部单元活动连接。An ankle joint and a foot unit, the lower leg unit is movably connected with the foot unit through the ankle joint.
  2. 根据权利要求1所述的无源下肢型外骨骼,其中,所述无源下肢型外骨骼还包括腰背调节锁紧装置,所述背部单元还包括背板、背部支撑条和背带,所述腰部单元包括腰背板和腰部支撑杆,所述背部托板转动设置于所述腰背板上,所述背板通过所述背部支撑条与所述腰背板连接,所述背带与所述背板连接并用于固定在穿戴者的肩部上;所述腰背板通过所述腰背调节锁紧装置与所述腰部支撑杆的一端可调锁紧连接,所述腰部支撑杆的另一端与所述髋关节连接。The passive lower extremity exoskeleton according to claim 1, wherein the passive lower extremity exoskeleton also includes a back adjustment and locking device, and the back unit also includes a back plate, a back support strip and a strap, the The lumbar unit includes a back plate and a lumbar support bar, the back supporting plate is rotatably arranged on the back plate, the back plate is connected with the back plate through the back support bar, and the strap is connected with the back plate. The backboard is connected and used to be fixed on the wearer's shoulders; the backboard is adjustable and locked with one end of the lumbar support rod through the lumbar adjustment locking device, and the other end of the lumbar support rod Connect with the hip joint.
  3. 根据权利要求2所述的无源下肢型外骨骼,其中,所述背部支撑条上沿所述无源下肢型外骨骼的高度方向间隔开设有至少两个第一调节孔,所述腰背板通过卡扣可择一与任一所述第一调节孔卡扣连接,以实现所述背板与所述腰背板的间距调节;The passive lower extremity exoskeleton according to claim 2, wherein at least two first adjustment holes are spaced apart on the back support bar along the height direction of the passive lower extremity exoskeleton, and the back plate One of the buckles can be buckled and connected with any one of the first adjustment holes, so as to realize the adjustment of the distance between the back board and the waist back board;
    所述背部托板向上倾斜设置并与所述背板之间呈锐角设置。The back supporting board is arranged obliquely upwards and is arranged at an acute angle with the backboard.
  4. 根据权利要求2所述的无源下肢型外骨骼,其中,所述腰背板上沿水平方向开设有腰型孔,所述腰背调节锁紧装置可滑动设置于所述腰型孔内固定,以实现所述腰部单元的宽度调节。The passive lower extremity exoskeleton according to claim 2, wherein a waist-shaped hole is opened on the back plate along the horizontal direction, and the waist-back adjusting and locking device can be slidably arranged in the waist-shaped hole and fixed , to realize the width adjustment of the waist unit.
  5. 根据权利要求1所述的无源下肢型外骨骼,其中,所述大腿单元包括大腿支撑条、大腿骨架和大腿关节座,所述小腿单元包括小腿关节座,所述大腿关节座与所述小腿关节座通过所述膝关节转动连接;所述大腿骨架通过所述大腿支撑条与所述髋关节相连,所述大腿骨架采用中空结构设计,所述蓄能支撑机构设置于所述大腿骨架的中空腔内;The passive lower extremity exoskeleton according to claim 1, wherein the thigh unit includes a thigh support bar, a thigh skeleton, and a thigh joint seat, and the lower leg unit includes a lower leg joint seat, and the thigh joint seat is connected to the lower leg The joint seat is connected through the rotation of the knee joint; the thigh frame is connected to the hip joint through the thigh support bar, the thigh frame adopts a hollow structure design, and the energy storage support mechanism is arranged in the hollow of the thigh frame cavity;
    所述蓄能支撑机构包括拉绳压块、拉绳和大腿压簧,所述大腿压簧设置于所述拉绳压块与所述小腿关节座之间,所述拉绳的一端与所述拉绳压块连接,另一端穿过大腿关节座后与所述小腿关节座连接。The energy storage support mechanism includes a stay cord pressing block, a stay cord and a thigh compression spring, the thigh compression spring is arranged between the stay cord pressing block and the calf joint seat, one end of the stay cord is connected to the The stay rope pressing block is connected, and the other end passes through the thigh joint seat and is connected with the calf joint seat.
  6. 根据权利要求5所述的无源下肢型外骨骼,其中,所述蓄能支撑机构还包括拉绳长度调节组件,所述小腿单元还包括与所述小腿关节座连接的小腿骨架,所述小腿骨架采用中空结构设计,所述拉绳长度调节组件设置于所述小腿骨架的中空腔内并与所述拉绳相连,所述拉绳长度调节组件用于调节所述拉绳的初始长度以实现对所述大腿压簧的初始弹力的无级调节。The passive lower extremity exoskeleton according to claim 5, wherein the energy storage support mechanism further includes a drawstring length adjustment assembly, and the lower leg unit further includes a lower leg frame connected to the lower leg joint seat, and the lower leg The framework adopts a hollow structure design, and the length adjustment assembly of the drawstring is arranged in the hollow cavity of the lower leg frame and connected with the stay cord. The length adjustment assembly of the drawstring is used to adjust the initial length of the stay cord to achieve Stepless adjustment of the initial spring force of the thigh compression spring.
  7. 根据权利要求6所述的无源下肢型外骨骼,其中,所述大腿支撑条沿所述无源下肢型外骨骼的高度方向间隔设置有至少两个第二调节孔,所述大腿骨架通过卡扣能够择一与任一所述第二调节孔卡扣连接,以实现所述大腿单元的长度调节;The passive lower extremity exoskeleton according to claim 6, wherein, at least two second adjustment holes are arranged at intervals along the height direction of the passive lower extremity exoskeleton on the said thigh support bar, and said thigh skeleton is passed through a clip. One of the buckles can be snapped and connected with any one of the second adjustment holes, so as to realize the length adjustment of the thigh unit;
    所述大腿单元还包括大腿挡板和大腿绑带,所述大腿挡板设置于所述大腿骨架上,所述大腿绑带连接于所述大腿挡板与所述大腿骨架之间;The thigh unit also includes a thigh baffle and a thigh strap, the thigh baffle is arranged on the thigh frame, and the thigh strap is connected between the thigh baffle and the thigh frame;
    所述大腿挡板开设有第一散热孔。The thigh baffle is provided with a first cooling hole.
  8. 根据权利要求7所述的无源下肢型外骨骼,其中,所述小腿单元还包括小腿支撑条,所述小腿骨架与所述小腿支撑条连接,所述小腿支撑条通过所述踝关节与所述脚部单元活动连接;The passive lower extremity exoskeleton according to claim 7, wherein the lower leg unit further includes a lower leg support bar, the lower leg frame is connected to the lower leg support bar, and the lower leg support bar is connected to the lower leg support bar through the ankle joint. The active connection of the foot unit;
    所述小腿支撑条沿所述无源下肢型外骨骼的高度方向开设有间隔设置的至少两个第三调节孔,所述小腿骨架通过卡扣能够择一与任一所述第三调节孔卡扣连接,以实现所述小腿单元的长度调节。The calf support bar is provided with at least two third adjustment holes arranged at intervals along the height direction of the passive lower extremity exoskeleton, and the calf frame can be locked with any one of the third adjustment holes through buckles. Buckle connection to achieve length adjustment of the lower leg unit.
  9. 根据权利要求8所述的无源下肢型外骨骼,其中,所述小腿单元还包括小腿挡板和小腿绑带,所述小腿挡板设置于所述小腿骨架上,所述小腿绑带连接于所述小腿挡板与所述小腿骨架支架;The passive lower extremity exoskeleton according to claim 8, wherein the calf unit further comprises a calf shield and a calf strap, the calf shield is arranged on the calf frame, and the calf strap is connected to The calf baffle and the calf frame support;
    所述小腿挡板开设有第二散热孔。The lower leg baffle is provided with a second cooling hole.
  10. 根据权利要求1所述的无源下肢型外骨骼,其中,所述脚部单元包括踝关节支撑座、脚底板和脚部绑带,所述踝关节通过所述踝关节支撑座连接于所述脚底板上,所述脚部绑带设置于所述脚底板上;The passive lower extremity exoskeleton according to claim 1, wherein said foot unit comprises an ankle joint support base, a sole plate and a foot strap, and said ankle joint is connected to said ankle joint through said ankle joint support base. On the sole of the foot, the foot straps are arranged on the sole of the foot;
    所述脚部绑带设置有调节扣,所述调节扣用于使所述脚部绑带的长度可调。The foot strap is provided with an adjustment buckle, and the adjustment buckle is used to make the length of the foot strap adjustable.
PCT/CN2022/077611 2021-06-17 2022-02-24 Passive lower-limb exoskeleton WO2022262302A1 (en)

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