CN106109186B

CN106109186B - Wearable lower limb exoskeleton robot

Info

Publication number: CN106109186B
Application number: CN201610790485.8A
Authority: CN
Inventors: 吴新宇; 彭安思; 王灿; 陈春杰; 刘笃信; 冯伟
Original assignee: Shenzhen Institute of Advanced Technology of CAS
Current assignee: Shenzhen Institute of Advanced Technology of CAS
Priority date: 2016-08-31
Filing date: 2016-08-31
Publication date: 2018-08-14
Anticipated expiration: 2036-08-31
Also published as: CN106109186A

Abstract

The present invention is a kind of wearable lower limb exoskeleton robot, including waist shoulder bondage system and leg exercise system, waist shoulder bondage system dress and be fixed on human body upper body；Leg exercise system is respectively provided at human body or so leg position, and two sets of leg exercise systems are separately fixed at waist shoulder bondage system both sides；Often set leg exercise system includes line winding drive system, hip joint support member, thigh and leg support component；Hip joint support member is connect with thigh support component by hip joint, and thigh support component is connected with leg support component by knee joint；Line winding drive system includes drive component, driving capstan winch, hip joint capstan winch, knee joint capstan winch, hip joint driving line and knee joint driving line；Drive component is arranged in hip joint support member and is located at human body waist.The power plant of each joint drive can be concentrated on the waist of human body by the present invention, to mitigate the weight of exoskeleton robot lower limb.

Description

Wearable lower limb exoskeleton robot

Technical field

The present invention relates to for walk help exoskeleton robot field more particularly to a kind of wearable lower limb exoskeleton machine People.

Background technology

Lower limb exoskeleton robot at present mainly has chain driven, pneumatic type, hydraulic-driven for drive mode Formula, four-bar mechanism, decelerating motor such as directly drive at the hardwares mechanical traction mode.There are one common spies for these drive modes tool Point, exactly each joint are provided with driving motor, lead to the deficiencies of structural volume is big, weight weight.

Chinese invention patent CN 102327173A wearable exoskeleton lower limb rehabilitation robots are to utilize harmonic speed reducer The movement that joint is realized as driving unit does not have complete self-locking since harmonic speed reducer has certain invertibity Function is likely to occur unstability defect when user muchly stands, and brings security risk.

Lower limb walking ectoskeleton wearable Chinese invention patent CN 1586434A is using hydraulic cylinder come the company of driving Bar is loosely organized huge to realize joint motions, complicated integral structure, and weight is laid particular stress on, and is not suitable for portable and wearing.

The portable wearable lower limb rehabilitations of Chinese invention patent ZL 201210370654.4 and walk-aiding exoskeleton robot, Its each joint is driven using sliding-block linkage, and driving mechanism is arranged at juxtra-articular, increases leg weight, and structure is multiple It is miscellaneous, it is difficult to advanced optimize robot overall weight.

The present inventor relies on experience and the practice for being engaged in relevant industries for many years as a result, proposes a kind of wearable lower limb dermoskeleton Bone robot, to overcome the deficiencies of existing technologies.

Invention content

The purpose of the present invention is to provide a kind of wearable lower limb exoskeleton robots, can be by the power of each joint drive Device concentrates on the waist of human body, to mitigate the weight of exoskeleton robot lower limb.

Another object of the present invention is to provide a kind of wearable lower limb exoskeleton robots, and hip joint is simple in structure, Locking and unlocking structure are simple, easy to operate.

It is still another object of the present invention to provide a kind of wearable lower limb exoskeleton robots, and knee joint structure is simple, Locking and unlocking structure are simple, easy to operate.

Another object of the present invention is to provide a kind of wearable lower limb exoskeleton robot, donning process is convenient, small Leg baffle will not generate interference with the shank of wearer.

The object of the present invention is achieved like this, a kind of wearable lower limb exoskeleton robot, outside the wearable lower limb Bone robot includes waist shoulder bondage system and leg exercise system, and the waist shoulder bondage system is for dressing and being fixed on human body Upper body；The leg exercise system is equipped with two sets, is separately positioned on the position of human body left leg and right leg, two sets of leg exercise systems It is respectively fixedly connected in the both sides of the waist shoulder bondage system；Often set leg exercise system includes line winding drive system, hip pass Save support member, thigh support component and leg support component；In the hip joint support member and the thigh support component End is connected by hip joint, and the thigh support lower is connected with leg support component upper end by knee joint；The line Winding drive system includes drive component, driving capstan winch, the hip joint capstan winch for driving hip joint movement, drives motion of knee joint Knee joint capstan winch, hip joint driving line and knee joint drive line；The driving component is arranged in the hip joint support member And it is located at human body waist, the driving capstan winch is connect with the driving component；The hip joint capstan winch and the knee joint capstan winch It is separately positioned at the hip joint and the knee joint, the driving component drives line and described by the hip joint respectively Knee joint drives line to drive the hip joint capstan winch and knee joint capstan winch rotation.

In the better embodiment of the present invention, the driving component includes hip joint driving motor and knee joint driving Motor；The driving capstan winch includes hip joint driving capstan winch and knee joint driving capstan winch；The hip joint driving motor and described Knee joint driving motor is each attached in the hip joint support member, passes through on the output shaft of the hip joint driving motor One unilateral bearing connects the hip joint and drives capstan winch, passes through the second unilateral bearing on the output shaft of the knee joint driving motor Connect the knee joint driving capstan winch；The outside and the outside of the hip joint capstan winch of the hip joint driving capstan winch are simultaneously wound The hip joint drives line；The simultaneously wound knee in outside of the outside and the knee joint capstan winch of the knee joint driving capstan winch Joint drive line.

In the better embodiment of the present invention, hip joint driving capstan winch by the first segment cylinder that can detach and Second segment cylinder axis is formed to docking；The first segment cylinder is equipped with first with docking for second segment cylinder on end face Compressed grooves；The periphery of the hip joint driving capstan winch is equipped with the first helicla flute, and first helicla flute is used for the hip The winding of joint drive line and guiding；

The knee joint drives capstan winch to be formed from the third section cylinder that can detach and the 4th section of cylinder axis to docking；Institute It states third section cylinder and is equipped with the second compressed grooves on end face with the 4th section of docking for cylinder；The knee joint drives capstan winch Periphery be equipped with the second helicla flute, second helicla flute for the knee joint driving line winding and guiding.

In the better embodiment of the present invention, the hip joint capstan winch is stepped cylinder body, and the hip joint twists The middle part of disk is enlarged diameter section, and third helicla flute is arranged in the periphery of the enlarged diameter section；The both ends of the hip joint capstan winch For reduced diameter section, separation fixed pulley is arranged on the reduced diameter section at both ends respectively, the separation fixed pulley is resisted against described The end face of enlarged diameter section can simultaneously be rotated relative to the hip joint capstan winch, and the knee joint driving line bypasses described point of both ends respectively From fixed pulley, the rotation of the hip joint capstan winch is driven the movement of line mutually to divide by the separation fixed pulley with the knee joint From；A part for the hip joint driving line is embedded in first compressed grooves and is secured in a press, the hip joint driving Another part of line is wrapped in first helicla flute and the third helicla flute；

The knee joint capstan winch is cylinder, and the periphery of the knee joint capstan winch is equipped with the 4th helicla flute；The knee A part for joint drive line is embedded in second compressed grooves and is secured in a press, another portion of the knee joint driving line Divide and is wrapped in second helicla flute and the 4th helicla flute.

In the better embodiment of the present invention, the hip joint support member includes hip joint support base and hip joint Supporting cover；The hip joint support cover buckle conjunction forms box body structure on the hip joint support base；The hip joint driving electricity Machine and the knee joint driving motor are fixed on hip joint support base side and extend perpendicularly out in the hip joint support base The output shaft of outside, the output shaft of the hip joint driving motor and the knee joint driving motor stretches into the hip joint support In seat；The hip joint driving capstan winch, knee joint driving capstan winch and the hip joint capstan winch are respectively positioned on the branch to hip joint It supports in seat.

In the better embodiment of the present invention, the hip joint support member includes hip joint support base and hip joint Supporting cover；The thigh support component includes thigh support seat and thigh support lid；The hip joint includes that the hip joint twists Disk and clutch positioning component；One end of the hip joint Supporting cover and the hip joint support base is equipped with the first spline of perforation Hole；The thigh support seat is equipped with the upper end of the thigh support lid and connect through-hole；The hip joint capstan winch is equipped with axial Second splined hole of perforation；The hip joint capstan winch is located between the hip joint Supporting cover and the hip joint support base, institute The thigh support lid is arranged in the outside for stating hip joint Supporting cover, and the thigh support is arranged in the outside of the hip joint support base Seat；The connection through-hole, first splined hole and second splined hole are coaxially disposed；The clutch positioning component is threaded through In the connection through-hole, first splined hole and second splined hole, the both ends of the clutch positioning component respectively with institute State thigh support seat, the thigh support lid is fixedly connected, and the clutch positioning component can be with first splined hole or institute State the locking of the second splined hole and unlock.

In the better embodiment of the present invention, the clutch positioning component includes clutch sleeve and clutch cover board； The clutch sleeve includes a cylindrical sleeves, and the cylindrical sleeves have open end and closed end, the circumferential edge of the open end Edge is equipped with ring flange；The cylindrical sleeves are coaxially threaded through the connection through-hole, first splined hole and second spline Kong Zhong, the closed end extend to thigh support lid side；The ring flange is fixedly connected with the thigh support seat, institute Clutch cover board is stated to be fixedly connected with the thigh support lid and the closed end；The clutch sleeve is equipped with and described the One splined hole or the locking system of second splined hole locking and unlock.

In the better embodiment of the present invention, the knee joint includes the knee joint capstan winch and clutch positioning group Part；The upper end of the leg support component is fixed with the inside top plate and lateral roof being oppositely arranged, the inside top plate and institute It states and is equipped with the second coaxial connection through-hole on lateral roof；The thigh support seat, the thigh support lid lower end be all provided with There is the third splined hole of perforation；The knee joint capstan winch be equipped with axially through the 4th splined hole；The knee joint capstan winch setting Between the thigh support seat and the thigh support lid；The thigh support seat and the thigh support lid are located in described Between side top plate and the lateral roof；The second connection through-hole, the third splined hole and the 4th splined hole are coaxial Setting；The clutch positioning component is threaded through in the second connection through-hole, the third splined hole and the 4th splined hole, The both ends of the clutch positioning component are fixedly connected with the inside top plate, the lateral roof respectively, and the clutch positions Component can be with the third splined hole or the 4th splined hole locking and unlock.

In the better embodiment of the present invention, the cylindrical sleeves are coaxially threaded through the second connection through-hole, institute Third splined hole is stated with the 4th splined hole, the closed end extends to the lateral roof side；The ring flange with The inside top plate is fixedly connected, and the clutch cover board is fixedly connected with the lateral roof and the closed end；It is described Clutch sleeve is equipped with the locking system with the third splined hole or the 4th splined hole locking and unlock.

In the better embodiment of the present invention, its axial direction of the barrel upper edge of the cylindrical sleeves is equipped with three circle steel successively Pearl pilot hole, each circle steel ball pilot hole are distributed uniformly and circumferentially；First splined hole, second splined hole, institute It states circumferencial direction on the hole wall of third splined hole, the 4th splined hole and is uniformly provided with multiple axially extending splines；It is described Steel ball is equipped in steel ball pilot hole, coaxial sleeve is equipped with clutch core in the cylindrical sleeves, and the steel ball is supported on the clutch On the outer wall of device core；The clutch core axial reciprocating can slide in the cylindrical sleeves, on the outer wall of the clutch core Equipped with steel ball head, the steel ball is set to stretch out or retract along the steel ball pilot hole by the steel ball head, institute State steel ball and the spline in first splined hole, second splined hole, the third splined hole or the 4th splined hole Slot, which cooperatively forms, to be locked or unlocked；The clutch core and the steel ball constitute the locking system.

In the better embodiment of the present invention, the steel ball head includes protruding cylinder surface and fluted column face, institute State the circular conical surface to seamlessly transit between protruding cylinder surface and fluted column face；The open end of the clutch sleeve is equipped with spring backstop Part is equipped with compressed spring between the spring stop part and the clutch core；The clutch core is opposite with the closed end One end be equipped with briquetting outstanding；The briquetting passes through the closed end and the clutch cover board to extend；It is described It reciprocatingly slides under the reply force effect of external force and the compressed spring of the clutch core in the briquetting, the steel ball is in institute It states and stretches out or retract along the steel ball pilot hole under the action of protruding cylinder surface and fluted column face.

In the better embodiment of the present invention, the outside of the hip joint Supporting cover and the hip joint support base Outside is equipped with one section of circular arc limiting slot, and the circular arc limiting slot is arranged concentrically with first splined hole；The thigh support It covers and is respectively and fixedly provided with a spacer pin on the inside of the inside and thigh support seat upper end at end, the spacer pin is embedded into corresponding In the circular arc limiting slot.

In the better embodiment of the present invention, under the outside of thigh support lid lower end and the thigh support seat One section of circular arc limiting slot is equipped on the outside of end, the circular arc limiting slot is arranged concentrically with the third splined hole；The outside The side touched with the thigh support seated connection on the side contacted with the thigh support lid on top plate and the inside top plate is equal It is fixed with a spacer pin, the spacer pin is embedded into the corresponding circular arc limiting slot.

In the better embodiment of the present invention, it is additionally provided on the thigh support component for pushing the pressing The unlocking mechanism of block；The unlocking mechanism includes rotating bar, connecting rod, vertical guide rod, guide rod seat and catch bar；The rotating bar What can be swung in perpendicular the be hinged on outside of the thigh support component, the swinging end of the rotating bar and described vertical The first end of guide rod is hinged with the both ends of head rod respectively；The guide rod seat is fixed on the outside of the thigh support component And equipped with being vertically directed hole, the vertical guide rod, which slides through, described is vertically directed hole；One end of the catch bar is hinged on institute It states on guide rod seat, the other end of the catch bar is corresponding with the position of the briquetting；The catch bar and the vertical guide rod Second end it is hinged with the both ends of the second connecting rod respectively.

In the better embodiment of the present invention, the rotating bar is fixed on a rotating disc, and the rotating disc passes through Horizontal rotating shaft is rotatably connected on the outside of the thigh support component, and the rotating bar is driven by the rotating disc and surrounds the water Flat shaft swing.

In the better embodiment of the present invention, shank bondage system is additionally provided on the leg support component, it is described Shank bondage system includes shank baffle, baffle connecting rod, adapting rod, throw rod and connecting seat；The connecting seat is fixed on institute It states on leg support component；The first end of the connecting seat and the first end of the baffle connecting rod are hinged, the baffle connection The second end of bar is fixedly connected with the shank baffle；The first end of the adapting rod and the first end of the baffle connecting rod are cut with scissors Connect, the hinge joint of the baffle connecting rod and the adapting rod be located at the baffle connecting rod and the connecting seat hinge joint outside Side；The first end of the throw rod and the second end of the adapting rod are hinged, and the second end of the throw rod is pulling head, described The second end of throw rod and the connecting seat is hinged, and the hinge joint of the throw rod and the connecting seat is located at the throw rod Between first end and second end；Wherein, the pivot center of each hinge joint is vertical.

It is hinged with the throw rod to be located at the connecting seat in the better embodiment of the present invention, on the connecting seat The side of point is additionally provided with the installation through-hole of a vertical direction；It is equipped with jackscrew, compression bullet in the installation through-hole successively from the top down Spring and top；The jackscrew is threaded in the installation through-hole top, the compressed spring be resisted against the jackscrew with it is described And it can be by the top downward ejection between top；The throw rod top surface opposite with the installation through-hole, which is equipped with, can make institute It states top card and sets pit therein.

In the better embodiment of the present invention, the wearable lower limb exoskeleton robot further includes crutch and electric appliance Control cabinet；The waist shoulder bondage system is equipped with chest strap, waistband and waist fixed plate；The electric appliance control box is connected equipped with chest strap Button, the chest strap is strapped in human chest, and the electric appliance control box is fixed on human body back by the chest strap junction button； The waist fixed plate is equipped with waistband junction button, and the waistband is strapped in human body waist, and will by the waistband junction button The waist fixed plate is fixed on human body rear waist；The left and right sides of the waist fixed plate respectively by L-shaped connecting plate with it is right The hip joint support member of side is answered to be fixedly connected.

From the above mentioned, wearable lower limb exoskeleton robot of the invention winds drive system, drive component using line It can simplify the structure of each joint with centralized arrangement in human body waist, alleviate the weight of exoskeleton robot lower limb.Its Clutch positioning component at hip joint and knee joint is using clutch sleeve, clutch core, compressed spring and steel ball and trapezoidal flower Keyway coordinates, and drives steel ball to stretch out or bounce back by the steel ball head of clutch wicking surface, simple in structure, locking and unlock It is easy to operate.Shank bondage system is pulled using what shank baffle, baffle connecting rod, adapting rod, throw rod and connecting seat were constituted Shank flapper to side can be avoided generating interference with the shank of wearer, when unlock by locking mechanism before wearing Only need to gently pull corresponding pulling head can unlock, and wearing is facilitated to operate.

Description of the drawings

The following drawings are only intended to schematically illustrate and explain the present invention, not delimit the scope of the invention.Wherein：

Fig. 1：For the overall structure diagram of wearable lower limb exoskeleton robot of the present invention.

Fig. 2：Side schematic view after being dressed for wearable lower limb exoskeleton robot of the present invention.

Fig. 3：For the decomposition texture schematic diagram of waist shoulder bondage system in the present invention.

Fig. 4：For the decomposition texture schematic diagram of leg exercise system in the present invention.

Fig. 5：For the overall structure diagram of leg exercise system in the present invention.

Fig. 6：The decomposition texture schematic diagram of drive system is wound for center line of the present invention.

Fig. 7：The front view of drive system is wound for center line of the present invention.

Fig. 8：For the sectional view of Section A-A in Fig. 7.

Fig. 9：The structural schematic diagram of capstan winch is driven for hip joint in the present invention.

Figure 10：For the sectional view of section B-B in Fig. 9.

Figure 11：For the sectional view in the sections C-C in Fig. 9.

Figure 12：The structural schematic diagram of capstan winch is driven for knee joint in the present invention.

Figure 13：For the sectional view in the sections D-D in Figure 12.

Figure 14：For the sectional view in the sections E-E in Figure 12.

Figure 15：For the structure sectional view of hip joint capstan winch in the present invention.

Figure 16：For the decomposition diagram of hip joint capstan winch in the present invention.

Figure 17：For the structure sectional view of knee joint capstan winch in the present invention.

Figure 18：For the decomposition texture schematic diagram of hip joint in the present invention.

Figure 19：For the assembling structure side view of hip joint in the present invention.

Figure 20：For the sectional view of Section A-A in Figure 19.

Figure 21：For the decomposition texture schematic diagram of hip joint support base and hip joint Supporting cover in the present invention.

Figure 22：For the decomposition texture schematic diagram (hip joint part) of thigh support seat in the present invention and thigh support lid.

Figure 23：For kneed decomposition texture schematic diagram in the present invention.

Figure 24：For the decomposition texture schematic diagram (knee joint part) of thigh support seat in the present invention and thigh support lid.

Figure 25：For the cross-sectional view of clutch positioning component in the present invention.

Figure 26：For the decomposition texture schematic diagram of shank support member in the present invention.

Figure 27：For the decomposition texture schematic diagram of unlocking mechanism in the present invention.

Figure 28：For the front view of unlocking mechanism in the present invention.

Figure 29：For the side view of unlocking mechanism in the present invention.

Figure 30：For the decomposition texture schematic diagram of shank bondage system in the present invention.

Figure 31：It is shank bondage system in the present invention in the schematic diagram of bondage working condition.

Figure 32：It is schematic diagram of the shank bondage system in the present invention in releasing bondage working condition.

Specific implementation mode

For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control illustrates this hair Bright specific implementation mode.

As depicted in figs. 1 and 2, the present invention provides a kind of wearable lower limb exoskeleton robots 10000, under this is wearable Limb exoskeleton robot 10000 includes waist shoulder bondage system 2000, leg exercise system 1000, crutch 3000 and electric appliance control box 4000.The waist shoulder bondage system 2000 is for dressing and being fixed on human body upper body, while waist shoulder bondage system 2000 is gone back and leg Portion's kinematic system 1000 is fixedly connected with electric appliance control box 4000.Crutch 3000 is used for that wearer is assisted to walk, the left side of wearer Hand and the right hand respectively hold a crutch 3000, and bandage can also be arranged for the top of crutch 3000 and the arm of wearer is held together. Electrical control system is equipped in electric appliance control box 4000, electrical control system and the driving motor in leg exercise system 1000 are logical It crosses conducting wire connection or is connected by Bluetooth communication.Crutch 3000 is equipped with control button and bluetooth module, and crutch 3000 can lead to It crosses between bluetooth module and the bluetooth module of electrical control system and communicates.Wearer is controlled by operating the button on crutch 3000 It makes rising for the lower limb exoskeleton robot 10000 and sits the gait motions such as walking.The leg exercise system 1000 is equipped with two sets, i.e., Left leg kinematic system and right leg kinematic system, are separately mounted to the outside of two leg of human body or so, the leg exercise system per side 1000 structures are symmetrical, and the structure in the present embodiment singly with side is described.It is tied up using a variety of waist shoulders in the prior art The function demand that system configurations are attained by waist shoulder bondage system 2000 in the present invention is tied up, as shown in figure 3, in the present embodiment Waist shoulder bondage system 2000 be equipped with chest strap 2001, waistband 2002 and waist fixed plate 2003.The electric appliance control box 4000 with Human body back close to one side be equipped with chest strap junction button 4001, electric appliance control box 4000 can be solid by chest strap junction button 4001 Surely it is connected on chest strap 2001.The chest strap 2001 is strapped in human chest, to by chest strap junction button 4001 by electric appliance control Case 4000 processed is fixed on human body back.The waist fixed plate 2003 is a band-like plate, is provided with support portion and laterally setting In the rear waist of human body, the waist fixed plate 2003 is equipped with waistband junction button 2004, and waist fixed plate 2003 can pass through Waistband junction button 2004 is fixedly attached on waistband 2002.The waistband 2002 is strapped in human body waist, to be connected by waistband Waist fixed plate 2003 is fixed on human body rear waist by buckle 2004.As shown in Figure 4 and Figure 5, leg exercise system 1000 is from upper Hip joint support member 10, thigh support component 20, leg support component 30, shoe parts 60 are disposed under；Thigh branch Thigh bondage part 50 is fixed on support part part 20.Hip joint support member 10 is thin-and-long, from the rear waist of human body to hip joint Tilt down setting；The inside middle portion of hip joint support member 10 passes through L-shaped connecting plate 2005 and waist towards the side of human body Fixed plate 2003 corresponding side in portion's is fixedly connected.Namely the left and right sides of waist fixed plate 2003 passes through L-shaped connecting plate respectively 2005 are fixedly connected with the hip joint support member 10 of respective side.The lower end of hip joint support member 10 and thigh support portion The upper end of part 20 is connected by hip joint, and the lower end of thigh support component 20 and the upper end of leg support component 30 pass through knee joint Connection.The leg exercise system 1000 winds drive system to drive hip joint and kneed rotation using line.Such as Fig. 6, Fig. 7 Shown in Fig. 8, the line winding drive system includes hip joint driving motor 801, knee joint driving motor 802, hip joint drive Dynamic capstan winch 803, knee joint driving capstan winch 804, hip joint capstan winch 805, knee joint capstan winch 806, hip joint driving line 807 and knee close Section driving line 808.As shown in figure 21, the hip joint support member 10 is box body structure, including hip joint support base 101 and hip Joint support lid 102, the hip joint support base 101 include seat bottom 1011 and pedestal side wall 1012, and seat bottom 1011 is located at close The side of human body, the vertical seat bottom 1011 of the pedestal side wall 1012 are simultaneously centered around the seat bottom 1,011 4 in the side of pedestal Form the box body structure of side opening in week；The hip joint Supporting cover 102 is covered on the pedestal side wall 1012, by hip joint The open of 101 side of support base covers.The hip joint driving motor 801 and the knee joint driving motor 802 are fixed on institute It states on a bottom 1011, and is stretched out outside hip joint support base 101 to human body side perpendicular to seat bottom 1011, the hip joint drives The output shaft of dynamic motor 801 and the output shaft of the knee joint driving motor 802 stretch into the hip joint support base 101；Institute It states hip joint driving capstan winch 803 and the hip joint driving motor 801 is connected to by the first unilateral bearing (not shown) On output shaft, i.e., the output shaft of hip joint driving motor 801 is fixedly connected with the inner ring of the first unilateral bearing, the first unilateral bearing Outer ring be fixedly connected on hip joint driving capstan winch 803 centre bore in.There is the specific knot of many unilateral bearings in the prior art Structure and application herein no longer excessively describe unilateral bearing.Equally, the knee joint driving capstan winch 804 passes through the second one-way shaft (not shown) is held to be connected on the output shaft of the knee joint driving motor 802.The line winds drive system at work, When hip joint driving motor 801 and knee joint driving motor 802 are rotated towards a direction of setting, corresponding unilateral bearing closes Lock makes hip joint driving motor 801 and knee joint driving motor 802 that hip joint driving capstan winch 803 and knee joint be driven to drive respectively Dynamic capstan winch 804 rotates, to which leg exercise system 1000 drives the leg of wearer to move synchronously；And when wearer leg with When leg exercise system 1000 is asynchronous, the setting of unilateral bearing can make hip joint driving motor 801 drive strand with hip joint It produces relative rotation between disk 803 and between knee joint driving motor 802 and knee joint driving capstan winch 804, avoids wearer Leg it is asynchronous with leg exercise system 1000 when to driving motor generate interference.Hip joint drives capstan winch 803 and knee to close Section driving capstan winch 804 can also be respectively fixedly connected with defeated in 801 output shaft of hip joint driving motor and knee joint driving motor 802 On shaft.The hip joint driving capstan winch 803, knee joint driving capstan winch 804 and the hip joint capstan winch 805 are respectively positioned on institute It states in hip joint support base 101.The hip joint capstan winch 805 and the knee joint capstan winch 806 are respectively provided at hip joint and knee closes At section.Hip joint driving line 807 is simultaneously wound to drive capstan winch 803 and the hip joint capstan winch 805 in the hip joint Outside, knee joint driving line 808 is simultaneously wound to drive capstan winch 804 and the knee joint capstan winch 806 in the knee joint It is external.The hip joint driving capstan winch 803 drives line 807 that the hip joint capstan winch 805 is driven to carry out together by the hip joint Step rotation；The knee joint driving capstan winch 804 drives line 808 that the knee joint capstan winch 806 is driven to carry out by the knee joint It rotates synchronously.In the present embodiment, the upper end setting hip joint of hip joint support base 101 and hip joint Supporting cover 102 drives electricity Machine 801, knee joint driving motor 802, hip joint driving capstan winch 803 and knee joint drive capstan winch 804；Knee joint driving motor 802 and knee joint driving capstan winch 804 be located at the surface that hip joint driving motor 801 and hip joint drive capstan winch 803.The seat Body sidewall 1012 disconnects forming driving line outlet end in the lower end of the hip joint support base 101.The hip joint capstan winch 805 It is located at the driving line outlet end, is sandwiched between hip joint support base 101 and hip joint Supporting cover 102 simultaneously some cylinder Face leaks out hip joint support member 10；The knee joint driving line 808 is stretched out from the driving line outlet end.

Further, closed annular flexible line may be used in driving line, can also use the linear type flexible wires disconnected.Its The material of middle flexible wires can be nonmetal wire, line, rope, can also be wire, line, rope.The hip joint of the present embodiment drives Line 807 and knee joint driving line 808 are all made of straight line shaped steel wire rope, and the both ends of the hip joint driving line 807 are solid respectively Surely have the first column joint, when hip joint driving 807 straight condition of line described in the first column joint axis and the hip Joint drive line 807 is vertical, forms t-shaped connector.The both ends of the knee joint driving line 808 are respectively fixed with the second cylinder Connector, when knee joint driving 808 straight condition of line described in the axis of the second column joint drive line 808 with the knee joint Vertically, t-shaped connector is also formed.

Further, as shown in figure 9, the hip joint drives capstan winch 803 by the first segment cylinder 8031 that can detach and the The axial docking composition of two sections of cylinders 8032, first segment cylinder 8031 and 8032 symmetrical configuration of second segment cylinder, dock it It is locked afterwards by screw axial integral.The periphery of hip joint driving capstan winch 803 is equipped with the first helicla flute, and described the Winding and guiding of one helicla flute for hip joint driving line 807, while hip joint driving line 807 can be improved and closed with hip Frictional force between section driving capstan winch 803, improves transmission efficiency.As shown in Figure 10 and Figure 11, the first segment cylinder 8031 The first compressed grooves 80321, the first connector card slot 80322 are equipped on end face with docking for second segment cylinder 8032, it is described First column joint of hip joint driving 807 first end of line is embedded into described the first of the first segment cylinder 8031 and connects In head card slot 80322, the axial direction of column joint is all perpendicular to docking end face when embedded；Hip joint driving line 807 the First column joint at two ends is embedded into the first connector card slot 80322 of the second segment cylinder 8032；Institute It states 80321 one end of the first compressed grooves and connects the first connector card slot 80322, the other end is connected to first helicla flute, So that the hip joint driving line 807 is reached the hip joint along the rotation direction of first helicla flute and drives the outer of capstan winch 803 Portion.As shown in figure 12, the knee joint drives capstan winch 804 by the third section cylinder 8041 that can be detached and the 4th section of cylinder 8042 axial docking compositions；Third section cylinder 8041 and the 4th section of cylinder 8042 are symmetrical, pass through screw axial after docking Locking is integral.The periphery of the knee joint driving capstan winch 804 is equipped with the second helicla flute, and second helicla flute is used for institute Winding and the guiding of knee joint driving line 808 are stated, while knee joint driving line 808 can be improved and drive capstan winch 804 with knee joint Between frictional force, improve transmission efficiency.As shown in Figure 13 and Figure 14, the third section cylinder 8041 and the 4th section of cylinder The second compressed grooves 80411, the second connector card slot 80412 are equipped on 8042 docking end face, the knee joint drives line 808 Second column joint of first end is embedded into the second connector card slot 80412 of the third section cylinder 8041； Second column joint of knee joint driving 808 second end of line is embedded into described the of the 4th section of cylinder 8042 In two connector card slots 80412；Described second compressed grooves, 80411 one end connects the second connector card slot 80412, and the other end connects It is connected to second helicla flute, the knee joint driving line 808 is made to reach the knee along the rotation direction of second helicla flute The outside of joint drive capstan winch 804.The hip joint driving line 807 and the knee joint drive cylinder of the line 808 by end Connector is stuck in corresponding connector card slot, and sliding will not be generated when driving line being made to receive larger pulling force.

As shown in Figure 15 and Figure 16, the hip joint capstan winch 805 is stepped cylinder body, the hip joint capstan winch 805 Middle part is enlarged diameter section, and third helicla flute is arranged in the periphery of the enlarged diameter section；The both ends of the hip joint capstan winch 805 are Reduced diameter section, separation fixed pulley 809 is arranged on the reduced diameter section at both ends respectively, and the separation fixed pulley 809 is resisted against The end face of the enlarged diameter section can simultaneously be rotated relative to the hip joint capstan winch 805, and the knee joint driving line 808 bypasses two respectively The separation fixed pulley 809 at end, the separation fixed pulley 809 is by the rotation of the hip joint capstan winch 805 and the knee joint The movement of driving line 808 is separated from each other, and knee joint drives line 808 to be oriented to by detaching fixed pulley 809, hip joint capstan winch 805 Rotation does not interfere with the movement of knee joint driving line 808.Hip joint capstan winch 805 may be used same material and single piece be made, Sub-assembly can also be made of different materials, the present embodiment is using sub-assembly, the smooth cylindrical of inner ring made of different materials Body uses high-hardness metal material, the stepped cylinder body of outer ring to use soft metal material；Inner ring cylinder and outer ring circle To be tightly fastened connection between cylinder, and both ends of the surface are concordant.The outer ring of separation fixed pulley 809 uses but is not limited to soft metal Material, inner ring use wear-resisting tin bronze or bronze metal material.In order to reduce the end face of enlarged diameter section and detach fixed pulley 809 Between frictional force, be additionally provided with antifriction gasket 810 between fixed pulley 809 with described detach in the end face of the enlarged diameter section；Subtract Wear-resisting tin bronze or bronze metal material may be used in the gasket 810 that rubs, and can also use wear-resisting nonmetallic materials.Pad Piece 810 can also adjust the axially mounted size of separation fixed pulley 809.The part of hip joint driving line 807 embedded the In one compressed grooves 80321 and be secured in a press, another part of the hip joint driving line 807 be wrapped in the first helicla flute and In third helicla flute.As shown in figure 17, the knee joint capstan winch 806 is cylinder, the periphery of the knee joint capstan winch 806 Equipped with the 4th helicla flute；A part for the knee joint driving line 808 is embedded in second compressed grooves 80411 and is compacted Fixed, another part of the knee joint driving line 808 is wrapped in second helicla flute and the 4th helicla flute.Together Sample, knee joint capstan winch 806 may be used a kind of material and single piece are made, and sub-assembly, this reality can also be made using different materials Applying the inner ring cylinder 8061 in example uses high-hardness metal material, outer ring cylinder 8062 to use soft metal material；It is interior It is tightly fastened connection between circle cylinder 8061 and outer ring cylinder 8062, and both ends of the surface are concordant.First helicla flute is extremely The cross section of 4th helicla flute may be used circular cross-section, triangular-section, rectangular section, trapezoid cross section, elliptic cross-section with And odd-shaped cross section etc..The present embodiment uses the helicla flute of circular cross-section.

Further, the position that the hip joint driving line 807 is corresponded on the pedestal side wall 1012 is equipped with the first tensioning device Structure 811, the position that the knee joint driving line 808 is corresponded on the pedestal side wall 1012 are equipped with the second strainer 812.It is described First strainer 811 is identical with the structure of second strainer 812, includes being tensioned swing arm, tension pulley block and opening Clamp force adjusting rod；One end of the tensioning swing arm is hinged on the pedestal side wall 1012, described of other end rotation connection Tight pulley forms swinging end；The pedestal side wall 1012 is equipped with threaded hole, and the tensioning draft control lever is threaded in described In threaded hole, described tensioning draft control lever one end is located at 1012 outside of the pedestal side wall, and the other end is resisted against the tensioning pendulum On swing arm.When rotation is tensioned draft control lever, the one end that can be brought to abutment against tensioning swing arm is inwardly or outwardly moved, to Tensioning swing arm is set to swing the adjusting for carrying out tensile force around its hinged end together with tension pulley block.First strainer 811 is installed On the pedestal side wall 1012 of lower part, hip joint driving line 807 is tensioned；Second strainer 812 is mounted on top On pedestal side wall 1012, knee joint driving line 808 is tensioned.

Further, first fixed pulley 813 is equipped with by pulley support axle 818 on the seat bottom 1011, described first is fixed sliding Wheel 813 is used to support the knee joint driving line 808, it is avoided to interfere with hip joint driving line 807.Two separation are fixed sliding Wheel 809 is respectively arranged below with the second fixed pulley 814 and third fixed pulley 815, and second fixed pulley 814 and the third are fixed Pulley 815 is coaxially disposed, and the second fixed pulley 814 and third fixed pulley 815 are arranged on thigh support component 20 in the present embodiment, Positioning support of the line 808 after separation fixed pulley 809 is oriented to is driven for knee joint, makes the movement of knee joint driving line 808 It is not influenced by the movement of hip joint capstan winch 805, i.e., when hip joint capstan winch 805 moves driving thigh movement, knee joint drives line 808 independent can move and transmit the torque of knee joint driving capstan winch 804.806 top of the knee joint capstan winch is equipped with the 4th Fixed pulley 816 and the 5th fixed pulley 817, the 4th fixed pulley 816 and the 5th fixed pulley 817 coaxial arrangement, are respectively provided with On thigh support component 20, the winding direction on knee joint capstan winch 806 is wrapped in for changing knee joint driving line 808.Institute It states after knee joint drives line 808 to be stretched out from knee joint driving capstan winch 804 and bypasses the separation fixed pulley 809, described second Fixed pulley 814, the 4th fixed pulley 816, the knee joint capstan winch 806, the 5th fixed pulley 817, the third are slided surely The knee joint driving capstan winch 804 is returned to after wheel 815, the separation fixed pulley 809, first fixed pulley 813.The hip closes The rotation direction for saving capstan winch 805 is consistent with the hip joint driving rotation direction of capstan winch 803, the rotation direction of the third helicla flute It is oppositely oriented with first helicla flute；The torque conversion that hip joint driving motor 801 is exported drives line 807 at hip joint Pulling force, be wrapped on the helicla flute of hip joint capstan winch 805 by it, drive the pulling force of line 807 to be transformed into again pair hip joint The torque of hip joint capstan winch 805, to realize the remote transmission (level of torque, direction) of torque.The knee joint capstan winch 806 Rotation direction drives the rotation direction of capstan winch 804 on the contrary, the 4th helicla flute and second helicla flute with the knee joint Rotation direction it is consistent；The torque conversion that knee joint driving motor 802 is exported drives the pulling force of line 808 at knee joint, is twined by it It is wound on the helicla flute of knee joint capstan winch 806, drives the pulling force of line 808 to be transformed into again to knee joint capstan winch 806 at knee joint Torque, to realize the remote transmission (level of torque, direction) of torque.

Drive system is wound using the line, drive component can be only arranged in each joint with centralized arrangement in waist Joint capstan winch drives driving capstan winch rotation by drive component, utilizes drive by driving line winding driving capstan winch and joint capstan winch Moving-wire drives the joint capstan winch of each joint to move synchronously, to realize that rising for exoskeleton robot sits the gait motions such as walking. The structure for simplifying each joint alleviates the weight of exoskeleton robot lower limb.

Further, as shown in Figure 18, Figure 19 and Figure 20, hip joint includes hip joint capstan winch 805 and clutch positioning component.Institute Hip joint support base 101 is stated mutually to be fastened together by standard fasteners such as screws with the hip joint Supporting cover 102 Form the hip joint support member 10 of box body structure.As shown in figure 21, the lower end of the hip joint support member 10 is inlaid with flower Key cover inserts 1013, i.e., the described hip joint Supporting cover 102 is opposite with the lower end of the hip joint support base 101, the two it Between it is spaced apart；And there are one the lower end of the hip joint Supporting cover 102 and the hip joint support base 101 is embedded Spline housing inserts 1013, two 1013 structures of spline housing inserts are identical, opposite and be coaxially disposed.Each spline housing inserts 1013 be disc, and center is equipped with the first splined hole 1014, and the inner wall of first splined hole 1014 is along the circumferential direction equal It is even to be equipped with multiple trapezoid spline slots axially extended.To hip joint support member 10 lower end formed one axially through The first splined hole 1014, the material of spline housing inserts 1013 is high-hardness metal material.

As shown in figure 22, thigh support seat 201 is mutually fastened with thigh support lid 202 by standard fasteners such as screws solid It is scheduled on the thigh support component 20 for forming box body structure together.Thigh support component 20 is a rod-like members, and effect is to use The thigh of people is supported, the outside of human thigh is mounted on, the upper end and the lower end of the hip joint support member 10 pass through this Hip joint connects.The upper end of the thigh support seat 201 and the thigh support lid 202 is oppositely arranged and spaced apart, And it is equipped with connection through-hole 203 in the position corresponding with 202 upper end of thigh support lid of the thigh support seat 201.The hip Joint capstan winch 805 is located between the hip joint Supporting cover 102 and the hip joint support base 101, can opposite hip joint support Lid 102 is rotated with hip joint support base 101, the medial surface in the end face of hip joint capstan winch 805 and hip joint Supporting cover 102, with And antifriction gasket 810 can be set between the end face and the medial surface of hip joint support base 101 of hip joint capstan winch 805, to reduce Force of sliding friction improves wearability, meanwhile, antifriction gasket 810 can also play the role of adjusting axial gap.Antifriction gasket The wear-resisting metal material such as tin bronze or bronze may be used in 810 material, can also use wear-resisting nonmetallic materials, this reality It applies example and uses nonmetallic materials.The thigh support lid 202 is located at the outside of the hip joint Supporting cover 102, the thigh branch Support seat 201 is located at the outside of the hip joint support base 101, medial surface and the hip joint Supporting cover 102 of thigh support lid 202 Also is provided with antifriction gasket 810 between lateral surface, the medial surface of thigh support seat 201 and the lateral surface of hip joint support base 101 it Between be equipped with antifriction gasket 810, to reduce the force of sliding friction between contact surface, improve wearability, while hip joint is also adjusted Axial gap and size.

As shown in figure 15, the center of the hip joint capstan winch 805 be equipped with axially through the second splined hole 8051, second flower The structure of keyhole 8051 is identical as the first splined hole 1014, and the inner wall in hole is along the circumferential direction uniformly provided with multiple axially extend Trapezoid spline slot.The connection through-hole 203, first splined hole 1014 and second splined hole 8051 are coaxially disposed. The clutch positioning component is threaded through the connection through-hole 203, first splined hole 1014 and second splined hole 8051 In, the both ends of the clutch positioning component are fixedly connected with the thigh support seat 201, the thigh support lid 202 respectively, and The clutch positioning component can be with first splined hole 1014 or second splined hole 8051 locking and unlock.Branch to hip joint The spline housing inserts 1013 of 10 lower end of support part part connect to be formed with the upper end of thigh support component 20 by clutch positioning component The hip joint, when the thigh support component 20 is locked by the clutch positioning component and second splined hole 8051, Unlocked state between the first splined hole 1014 of hip joint support member 10, i.e. thigh support component 20 and hip joint capstan winch 805 lock and are unlocked between hip joint support member 10, and the rotation of hip joint capstan winch 805 can drive thigh support component 20 1 It rises and swings.When the thigh support component 20 is locked by the clutch positioning component and first splined hole 1014, with It is in the unlocked state between second splined hole 8051 of hip joint capstan winch 805, i.e. thigh support component 20 and branch to hip joint support part It locks between part 10 and is unlocked between hip joint capstan winch 805, the rotation of hip joint capstan winch 805 will not drive thigh support component 20 swing together.Since the position of hip joint support member 10 is fixed, thigh support component 20 is now in stopping The lock-out state of movement.

Further, as shown in Figure 18, Figure 20 and Figure 25, the clutch positioning component includes clutch sleeve 301, clutch core 302, clutch cover board 303, compressed spring 304 and steel ball.The clutch sleeve 301 includes a cylindrical sleeves, and material is High-hardness metal material.The cylindrical sleeves have open end and closed end, and internal is cylindrical cavity, the open end Circumferential edges are equipped with outwardly projecting ring flange, and bolt connecting hole is uniformly provided on ring flange.The cylinder of the cylindrical sleeves It is axial successively equipped with three circle steel ball pilot holes 305 for barrel upper edge, and each circle steel ball pilot hole 305 along the circumferential direction uniformly divides Cloth；I.e. first lap steel ball pilot hole 305 is led close to open end, third circle steel ball pilot hole 305 close to closed end, the second circle steel ball It is located at centre to hole 305, the steel ball pilot hole 305 of each circle is equipped with multiple, and the circumferencial direction along cylindrical barrel is uniform Distribution.Wherein, the position of first lap steel ball pilot hole 305 and the first splined hole 1014 on the hip joint support base 101 are right It answers, the position of the second circle steel ball pilot hole 305 is corresponding with the second splined hole 8051 of the hip joint capstan winch 805, third circle steel The position of pearl pilot hole 305 is corresponding with the first splined hole 1014 in the hip joint Supporting cover 102.It is oriented in each steel ball Be provided with steel ball in hole 305, the diameter of steel ball less times greater than steel ball pilot hole 305 internal diameter, to steel ball only some body Product can reach the outside of steel ball pilot hole 305, without integrally through steel ball pilot hole 305.The cylindrical sleeves are coaxially worn The connection through-hole 203, first splined hole 1014 are located at second splined hole 8051, the ring flange of open end is tight It is attached to the outside of thigh support seat 201, and is fixedly connected with the thigh support seat 201 by connecting bolt.Thigh support seat Concave surface, which can be arranged, in 201 outside makes ring flange be embedded.The closed end extends to the outside of the thigh support lid 202 And it is fixedly connected with the thigh support lid 202 by clutch cover board 303.The i.e. described clutch cover board 303 is equipped with bolt Connecting hole, by connect bolt connect with the outside of thigh support lid 202, while the closed end also by connect bolt and from Clutch cover board 303 connects.Concave surface, which can be arranged, in the outside of thigh support lid 202 makes clutch cover board 303 be embedded.

Coaxial sleeve is equipped with clutch core 302 in cylindrical cavity in the cylindrical sleeves.Clutch core 302 is also one Cylindrical shroud cylinder part, the one end open of clutch core 302, other end closing.The outside that one end is closed in clutch core 302 is also set There is one section of small-diameter circular shell of column protruded out axially outward.The steel ball is supported on the outer wall of the clutch core 302.It is described Clutch core 302 axial reciprocating can slide in the cylindrical sleeves, and the outer wall of the clutch core 302 is equipped with steel ball activity Device, when clutch core 302 reciprocatingly slides, steel ball head can push the steel ball to be stretched out along the steel ball pilot hole 305 Or steel ball is made to be retracted into steel ball pilot hole 305.It will be in first lap steel ball pilot hole 305 and third circle steel ball pilot hole 305 Steel ball is defined as thigh positioning ball 306, and the steel ball in the second circle steel ball pilot hole 305, which is defined as thigh, drives steel ball 307. Thigh positioning ball 306 can cooperatively form locking after stretching out with the trapezoid spline slot in first splined hole 1014, after retraction Form unlock；To make thigh support component 20 be locked or unlocked with hip joint support member 10.Thigh drives steel ball 307 to stretch out Locking can be cooperatively formed with the trapezoid spline slot in second splined hole 8051 afterwards, form unlock after retraction；To make thigh Support member 20 is locked or unlocked with hip joint capstan winch 805.The clutch core 302 and corresponding steel ball form it is described from Locking system on clutch set 301.

Further, the steel ball head may be used be arranged on the outer wall of clutch core 302 it is various protrusion and it is recessed Sunken decorative pattern is realized, in the present embodiment, steel ball head includes the protruding cylinder surface 3021 being arranged along its axially spaced-apart and recessed Cylindrical surface 3022, the circular conical surface between each section of protruding cylinder surface 3021 and adjacent fluted column face 3022 to seamlessly transit.It is described The setting sequence in protruding cylinder surface 3021 and fluted column face 3022 and position are, from cylindrical sleeves on the outer wall of clutch core 302 Open end to the direction of cylindrical sleeves closed end successively be equipped with fluted column face 3022, protruding cylinder surface 3021, fluted column face 3022 and Protruding cylinder surface 3021.The open end of the clutch sleeve 301 is equipped with spring stop part 308, and the setting of compressed spring 304 stops in spring Between block piece 308 and clutch core 302, one end of compressed spring 304 is resisted against on spring stop part 308, and the other end is resisted against On clutch core 302.There is cavity, compressed spring 304 to extend into the sky at 302 middle part of clutch core at the middle part of clutch core 302 Intracavitary applies the power compressed to the closed end of cylindrical sleeves to clutch core 302.Clutch core 302 is tightly attached to closed end Inside, the small-diameter circular shell of column of end forms a briquetting 309, and small-diameter circular shell of column passes through the closed end of cylindrical sleeves And clutch cover board 303 is stretched out in the outside of clutch cover board 303, it can by the pressing of finger or the push rod of unlocking mechanism 70 It pushes, the elastic force that clutch core 302 overcomes compressed spring 304 is made to bounce back to the left side of Figure 20.The clutch core 302 is pressing The reply force effect bottom left right side of external force and compressed spring 304 on block 309 reciprocatingly slides, to make 306 He of thigh positioning ball Thigh drives steel ball 307 to stretch out or retract along steel ball pilot hole 305 under the action of protruding cylinder surface 3021 and fluted column face 3022.

In the present embodiment, clutch positioning component has first state and the second state.In the first state, the clutch Core 302 abuts the closed end of cylindrical sleeves, and the thigh driving steel ball 307 in the second circle steel ball pilot hole 305 is supported on pair at this time On the protruding cylinder surface 3021 answered, thigh driving steel ball 307 about half volume, which reaches, enters the outside steel ball pilot hole 305 In the trapezoid spline slot of two splined holes 8051, the other half volume stays in the steel ball pilot hole 305 of clutch sleeve 301, makes clutch Device set 301 is formed with hip joint capstan winch 805 to be locked.And in first lap steel ball pilot hole 305 and third circle steel ball pilot hole 305 Thigh positioning ball 306 is supported on corresponding fluted column face 3022, and thigh positioning ball 306 is retracted in steel ball pilot hole 305 It is interior, it is unlocked between clutch sleeve 301 and hip joint support member 10；The rotation of hip joint capstan winch 805 can drive thigh support Component 20 is swung.Under second state, retraction is (to clutch under external force of the clutch core 302 on acting on briquetting 309 The open end sliding of set 301), retraction in place after, the thigh driving steel ball 307 in the second circle steel ball pilot hole 305 is supported on pair On the fluted column face 3022 answered, thigh driving steel ball 307 is retracted in steel ball pilot hole 305, and clutch sleeve 301 is twisted with hip joint It is unlocked between disk 805.And the thigh positioning ball 306 in first lap steel ball pilot hole 305 and third circle steel ball pilot hole 305 Support on corresponding protruding cylinder surface 3021, the about half volume of thigh positioning ball 306 reach steel ball pilot hole 305 it is outer into Entering into the trapezoid spline slot of the first splined hole 1014, the other half volume stays in the steel ball pilot hole 305 of clutch sleeve 301, Make clutch sleeve 301 and hip joint support member 10 be formed to lock, i.e., clutch sleeve 301 respectively with the hip joint Supporting cover 102 and the first splined hole 1014 on hip joint support base 101 trapezoid spline slot formed locking.Hip joint capstan winch 805 turns It is dynamic that thigh support component 20 cannot be driven to swing, it is relatively fixed between thigh support component 20 and hip joint support member 10.

Further, as shown in figure 21, opposite between hip joint support member 10 and thigh support component 20 in order to limit The outside of swing angle, the outside of the hip joint Supporting cover 102 and the hip joint support base 101 is equipped with one section of circular arc limit Position slot 1015, the circular arc limiting slot 1015 are to be arranged concentrically with first splined hole 1014.As shown in figure 22, the thigh The inside of Supporting cover 202 and the inside of the thigh support seat 201 are respectively and fixedly provided with a spacer pin 204, and the spacer pin 204 is embedded in Into the corresponding circular arc limiting slot 1015.When thigh support component 20 is swung with respect to hip joint support member 10, limit The sliding in the circular arc limiting slot 1015 of pin 204, spacer pin 204 slide into behind the end of circular arc limiting slot 1015 by circular arc limiting slot 1015 backstops continue to swing to limit thigh support component 20 with respect to hip joint support member 10.It can limit as needed Swing angle length and the position of circular arc limiting slot 1015 be set.

The waist in wearer is arranged in the driving devices such as the motor of driving hip joint driving line 807, need not be in hip joint The driving devices such as motor are integrated, the weight of exoskeleton robot lower limb is alleviated.Its clutch positioning component uses clutch sleeve 301, clutch core 302, compressed spring 304 and steel ball and hip joint support base 101, hip joint Supporting cover 102, hip joint twist Trapezoid spline slot cooperation on disk 805 drives steel ball to stretch out or bounce back by the steel ball head on 302 surface of clutch core, It is simple in structure, it locks and unlocks and is easy to operate.

Further, as shown in figure 23, knee joint includes knee joint capstan winch 806 and clutch positioning component, clutch positioning group The structure of part is identical as the clutch positioning component structure at hip joint.The lower end of thigh support component 20 is inlaid with spline housing and inlays Part 2013, i.e., the described thigh support lid 202 is opposite with the lower end of the thigh support seat 201, spaced apart between the two； And the lower end of the thigh support lid 202 and the thigh support seat 201 is embedded there are one spline housing inserts 2013, two 2013 structure of spline housing inserts is identical, opposite and be coaxially disposed.Each spline housing inserts 2013 is disc, center Equipped with third splined hole 2011, the inner wall of the third splined hole 2011 is along the circumferential direction uniformly provided with multiple axially extend Trapezoid spline slot, to thigh support component 20 lower end formed one axially through third splined hole 2011, spline housing The material of inserts 2013 is high-hardness metal material.

The knee joint capstan winch 806 is located between the thigh support lid 202 and the thigh support seat 201, can be opposite Thigh support lid 202 is rotated with thigh support seat 201, the inside in the end face of knee joint capstan winch 806 and thigh support lid 202 Antifriction gasket can be set (in figure not between face and the end face and the medial surface of thigh support seat 201 of knee joint capstan winch 806 Show), to reduce force of sliding friction, wearability is improved, meanwhile, antifriction gasket can also play the role of adjusting axial gap. The wear-resisting metal material such as tin bronze or bronze may be used in the material of antifriction gasket, can also use wear-resisting non-metallic material Material, the present embodiment use nonmetallic materials.As shown in figure 26, the leg support component 30 include rod-shaped shank jacking block 31, Inside top plate 32 and lateral roof 33.Leg support component 30 is used for supporting the shank of people, and when installation is arranged human calf's Outside.The upper end both sides of shank jacking block 31 are respectively fixedly connected with inside top plate 32 and lateral roof 33, inside top plate 32 and outside Top plate 33 be oppositely arranged and between have certain distance, a connection is respectively provided on the inside top plate 32 and the lateral roof 33 Through-hole 321, two connection through-holes 321 are coaxial.202 (i.e. thigh support portion of the thigh support seat 201 and the thigh support lid The lower end of part 20) it is located between the inside top plate 32 and the lateral roof 33, it can relative inner top plate 32 and lateral roof 33 rotations.The top end surface of shank jacking block 31 is equipped with arc groove 311, between thigh support seat 201 and thigh support lid 202 The part of knee joint capstan winch 806 be embedded into the arc groove 311.Between thigh support seat 201 and inside top plate 32, greatly It is also provided with antifriction gasket between leg Supporting cover 202 and lateral roof 33, to reduce the force of sliding friction between contact surface, carries High-wearing feature, while kneed axial gap and size is also adjusted.

The center of the knee joint capstan winch 806 be equipped with axially through the 4th splined hole 8063, the 4th splined hole 8063 Structure is identical as third splined hole 2011, and the inner wall in hole is along the circumferential direction uniformly provided with multiple trapezoid splines axially extended Slot.The connection through-hole 321, the third splined hole 2011 and the 4th splined hole 8063 are coaxially disposed.The clutch is fixed Hyte part is laterally threaded through in the connection through-hole 321, the third splined hole 2011 and the 4th splined hole 8063, described The both ends of clutch positioning component are fixedly connected with the inside top plate 32, the lateral roof 33 respectively, and the clutch positions Component can be with the third splined hole 2011 or the 4th splined hole 8063 locking and unlock.20 lower end of thigh support component Spline housing inserts 2013 connect the knee to form the present invention by the clutch positioning component with the upper end of leg support component 30 Joint.The leg support component 30 is locked by the 4th splined hole 8063 of the clutch positioning component and knee joint capstan winch 806 Periodically, it is unlocked state between the third splined hole 2011 of thigh support component 20, i.e., leg support component 30 is closed with knee Section capstan winch 806 is locked and is unlocked between thigh support component 20, and the rotation of knee joint capstan winch 806 can drive calf support part 30 swing together.The third splined hole that the leg support component 30 passes through the clutch positioning component and thigh support component 20 It is in the unlocked state between the 4th splined hole 8063 of knee joint capstan winch 806 when 2011 locking, i.e. leg support component 30 It locks between thigh support component 20 and is unlocked between knee joint capstan winch 806, the rotation of knee joint capstan winch 806 will not drive Leg support component 30 is swung together, and thigh support component 20 is in the lock for stopping relative motion with leg support component 30 at this time State is determined, suitable for the situation to plant oneself.

Further, as shown in Figure 23 and Figure 25, the clutch positioning component include clutch sleeve 301, clutch core 302, Clutch cover board 303, compressed spring 304 and steel ball.The clutch sleeve 301 includes a cylindrical sleeves, and material is high hard Spend metal material.The cylindrical sleeves have open end and closed end, and internal is cylindrical cavity, the circumference of the open end Edge is equipped with outwardly projecting ring flange, and bolt connecting hole is uniformly provided on ring flange.The cylindrical barrel of the cylindrical sleeves It is axial successively equipped with three circle steel ball pilot holes 305 for upper edge, and each circle steel ball pilot hole 305 is distributed uniformly and circumferentially；I.e. First lap steel ball pilot hole 305 is close to open end, and third circle steel ball pilot hole 305 is close to closed end, the second circle steel ball pilot hole 305 are located at centre, and the steel ball pilot hole 305 of each circle is equipped with multiple, is uniformly distributed along the circumferencial direction of cylindrical barrel. Wherein, the position of first lap steel ball pilot hole 305 is corresponding with the third splined hole 2011 on the thigh support seat 201, and second The position for enclosing steel ball pilot hole 305 is corresponding with the 4th splined hole 8063 of the knee joint capstan winch 806, third circle steel ball pilot hole 305 position is corresponding with the third splined hole 2011 on the thigh support lid 202.It is set in each steel ball pilot hole 305 It is equipped with steel ball, the diameter of steel ball is less times greater than the internal diameter of steel ball pilot hole 305, some volume energy reaches to steel ball The outside of steel ball pilot hole 305, without integrally through steel ball pilot hole 305.The cylindrical sleeves are coaxially threaded through the company Hole 321, the third splined hole 2011 are connected with the 4th splined hole 8063, the ring flange of open end is tightly attached to medial roof The outside of plate 32, and be fixedly connected with the inside top plate 32 by connecting bolt.The outside of inside top plate 32 can be arranged recessed Face makes ring flange be embedded.The closed end extend to the outside of the lateral roof 33 and by clutch cover board 303 with The lateral roof 33 is fixedly connected.The i.e. described clutch cover board 303 is equipped with bolt connecting hole, by connecting bolt and outside The outside of top plate 33 connects, while the closed end is connect also by connection bolt with clutch cover board 303；Lateral roof 33 Concave surface, which can be arranged, in outside makes clutch cover board 303 be embedded.

Coaxial sleeve is equipped with clutch core 302 in cylindrical cavity in the cylindrical sleeves.Clutch core 302 is also one Cylindrical shroud cylinder part, the one end open of clutch core 302, other end closing.The outside that one end is closed in clutch core 302 is also set There is one section of small-diameter circular shell of column protruded out axially outward.The steel ball is supported on the outer wall of the clutch core 302.It is described Clutch core 302 axial reciprocating can slide in the cylindrical sleeves, and the outer wall of the clutch core 302 is equipped with steel ball activity Device, when clutch core 302 reciprocatingly slides, steel ball head can push the steel ball to be stretched out along the steel ball pilot hole 305 Or steel ball is made to be retracted into steel ball pilot hole 305.It will be in first lap steel ball pilot hole 305 and third circle steel ball pilot hole 305 Steel ball is defined as shank positioning ball 406, and the steel ball in the second circle steel ball pilot hole 305, which is defined as shank, drives steel ball 407. Shank positioning ball 406 can cooperatively form locking after stretching out with the trapezoid spline slot in the third splined hole 2011, after retraction Form unlock；To make leg support component 30 be locked or unlocked with thigh support component 20.After shank drives steel ball 407 to stretch out Locking can be cooperatively formed with the trapezoid spline slot in the 4th splined hole 8063, form unlock after retraction；To make shank branch Support part part 30 is locked or unlocked with knee joint capstan winch 806.The clutch core 302 and corresponding steel ball form the clutch Locking system on device set 301.

Further, as shown in figure 25, the steel ball head may be used is arranged respectively on the outer wall of clutch core 302 The decorative pattern of protrusion and recess is planted to realize, in the present embodiment, steel ball head includes the convex cylindrical being arranged along its axially spaced-apart Face 3021 and fluted column face 3022, the circle between each section of protruding cylinder surface 3021 and adjacent fluted column face 3022 to seamlessly transit The conical surface.The protruding cylinder surface 3021 and fluted column face 3022 setting sequence and position be, on the outer wall of clutch core 302 from Cylindrical sleeves open end is equipped with fluted column face 3022, protruding cylinder surface 3021, fluted column successively to the direction of cylindrical sleeves closed end Face 3022 and protruding cylinder surface 3021.The open end of the clutch sleeve 301 is equipped with spring stop part 308, and compressed spring 304 is arranged Between spring stop part 308 and clutch core 302, one end of compressed spring 304 is resisted against on spring stop part 308, another End is resisted against on clutch core 302.There is cavity, compressed spring 304 to extend into clutch core 302 at the middle part of clutch core 302 In the cavity at middle part, the power compressed to the closed end of cylindrical sleeves is applied to clutch core 302.Clutch core 302 is close to In the inside of closed end, the small-diameter circular shell of column of end forms a briquetting 309, and small-diameter circular shell of column passes through cylindrical sleeves Closed end and clutch cover board 303 stretch out in the outside of clutch cover board 303, can by the pressing of finger or unlocking mechanism 70 push rod pushes, and the elastic force that clutch core 302 overcomes compressed spring 304 is made to bounce back to the left side of Figure 25.The clutch core The reply force effect bottom left right side of 302 external force and compressed spring 304 in briquetting 309 reciprocatingly slides, to make shank position Steel ball 406 and shank driving steel ball 407 are stretched under the action of protruding cylinder surface 3021 and fluted column face 3022 along steel ball pilot hole 305 Go out or retracts.

In the present embodiment, clutch positioning component has first state and the second state.In the first state, the clutch Core 302 abuts the closed end of cylindrical sleeves, and the shank driving steel ball 407 in the second circle steel ball pilot hole 305 is supported on pair at this time On the protruding cylinder surface 3021 answered, shank driving steel ball 407 about half volume, which reaches, enters the outside steel ball pilot hole 305 In the trapezoid spline slot of four splined holes 8063, the other half volume stays in the steel ball pilot hole 305 of clutch sleeve 301, makes clutch Device set 301 is formed with knee joint capstan winch 806 to be locked.And in first lap steel ball pilot hole 305 and third circle steel ball pilot hole 305 Shank positioning ball 406 is supported on corresponding fluted column face 3022, and shank positioning ball 406 is retracted in steel ball pilot hole 305 It is interior, it is unlocked between clutch sleeve 301 and thigh support component 20；The rotation of knee joint capstan winch 806 can drive calf support Part 30 is swung.Under second state, retraction is (to clutch sleeve under external force of the clutch core 302 on acting on briquetting 309 301 open end sliding), after bouncing back in place, the shank driving steel ball 407 in the second circle steel ball pilot hole 305 is supported on correspondence Fluted column face 3022 on, shank driving steel ball 407 is retracted in steel ball pilot hole 305, clutch sleeve 301 and knee joint capstan winch It is unlocked between 806.And the shank positioning ball 406 in first lap steel ball pilot hole 305 and third circle steel ball pilot hole 305 supports On corresponding protruding cylinder surface 3021, the about half volume of shank positioning ball 406 reaches to be entered outside steel ball pilot hole 305 Into the trapezoid spline slot of third splined hole 2011, the other half volume stays in the steel ball pilot hole 305 of clutch sleeve 301, makes Clutch sleeve 301 and thigh support component 20, which are formed, to be locked, i.e., clutch sleeve 301 respectively with the thigh support lid 202 and greatly The trapezoid spline slot of third splined hole 2011 on leg support base 201 forms locking.The rotation of knee joint capstan winch 806 cannot drive Leg support component 30 is swung, and is relatively fixed between thigh support component 20 and leg support component 30.

Further, as shown in figure 24, in order to limit the opposite pendulum between leg support component 30 and thigh support component 20 The outside of dynamic angle, the outside of the thigh support lid 202 and the thigh support seat 201 is equipped with one section of circular arc limiting slot 2015, the circular arc limiting slot 2015 is to be arranged concentrically with the third splined hole 2011.On the lateral roof 33 with thigh The side opposite with thigh support seat 201 is respectively and fixedly provided with a limit on the opposite side of Supporting cover 202 and the inside top plate 32 Pin 408, the spacer pin 408 are embedded into the corresponding circular arc limiting slot 2015.When leg support component 30 is with respect to thigh When support member 20 is swung, spacer pin 408 sliding, spacer pin 408 in circular arc limiting slot 2015 slide into circular arc limiting slot By 2015 backstop of circular arc limiting slot behind 2015 end, continue with respect to thigh support member 20 to limit leg support component 30 It swings.The swing angle that can be limited as needed is arranged length and the position of circular arc limiting slot 2015.

The waist in wearer can be arranged in the driving devices such as the kneed driving motor, need not be integrated in knee joint The driving devices such as motor alleviate the weight of exoskeleton robot lower limb.Its clutch positioning component using clutch sleeve 301, from Clutch core 302, compressed spring 304 and steel ball and thigh support seat 201, thigh support lid 202, on knee joint capstan winch 806 Trapezoid spline slot coordinates, and drives steel ball to stretch out or bounce back by the steel ball head on 302 surface of clutch core, simple in structure, It locks and unlocks and is easy to operate.

Further, motive force is applied to the briquetting 309 on clutch core 302 for convenience, in thigh support component 20 Outside be additionally provided with unlocking mechanism 70.As shown in Figure 27, Figure 28 and Figure 29, the unlocking mechanism 70 includes rotating bar 701, connects Extension bar, vertical guide rod, guide rod seat and catch bar.The rotating bar 701 is hinged on the outside of the thigh support component 20, pendulum Moved end can be swung around horizontal axis in perpendicular, and the swinging end of the rotating bar 701 and one end of head rod are cut with scissors It connects, the other end of head rod and the first end of the vertical guide rod are hinged.The guide rod seat is fixed on the thigh support The outside of component 20 and equipped with being vertically directed hole, the vertical guide rod, which slides through, described is vertically directed hole.The catch bar One end is hinged on the guide rod seat, and the opposite guide rod seat of catch bar energy is swung in perpendicular, the other end of the catch bar Corresponding with the position of the briquetting 309, one end of the catch bar and the second connecting rod is hinged, catch bar and the second connecting rod Hinge joint be located between catch bar and the hinge joint and the other end of catch bar of guide rod seat；The other end of second connecting rod and institute The second end for stating vertical guide rod is hinged.Rotating bar 701, head rod, vertical guide rod, the second connecting rod and catch bar form one Transfer chain, makes catch bar also be swung in perpendicular, the other end energy of catch bar by the swing of rotating bar 701 Apply thrust to corresponding briquetting 309, briquetting 309 pushed to act, make clutch positioning component be in first state or Second state.

In the present embodiment, unlocking mechanism 70 corresponds to hip joint and knee joint setting respectively.Unlocking mechanism 70 is provided with one It is a to be fixedly installed horizontal rotating shaft 703 with manual rotating disc 702, the side of rotating disc 702, pass through horizontal rotating shaft 703 are rotatablely connected with thigh support component 20, and rotating disc 702 is located at the outside of thigh support component 20, the length of rotating bar 701 The midpoint in direction is fixed on the horizontal rotating shaft 703 of rotating disc 702, is driven by rotating disc 702 and is put around the horizontal rotating shaft 703 Dynamic, the both ends of rotating bar 701 are respectively formed upper and lower swinging end.Two sets are symmetrically arranged above and below rotating bar 701 The transfer chain formed by connecting rod, vertical guide rod and catch bar, upper and lower two guide rod seats are all fixed on thigh support component 20 Outside.The upper swinging end of rotating bar 701 and the head rod 704 above it are hinged, head rod 704 and upper vertical guide rod 705 lower end is hinged, and upper vertical guide rod 705 is upwardly extended along the outside upright of thigh support component 20, upper vertical guide rod 705 The second connecting rods of Kong Houyu 707 that are vertically directed across top guide bar seat 706 are hinged, in the second connecting rod 707 and upper catch bar 708 Portion is hinged, and one end of upper catch bar 708 and top guide bar seat 706 are hinged, the other end of upper catch bar 708 and the briquetting of hip joint 309 correspond to.The bottom moved end of rotating bar 701 and third connecting rod 709 below are hinged, third connecting rod 709 with it is lower vertical The upper end of guide rod 710 is hinged, and lower vertical guide rod 710 is extended downwardly along the outside upright of thigh support component 20, lower to lead vertically Bar 710 passes through the 4th connecting rods 712 of Kong Houyu that are vertically directed of lower guide rod seat 711 to be hinged, the 4th connecting rod 712 and lower catch bar 713 middle parts are hinged, and one end of lower catch bar 713 and lower guide rod seat 711 are hinged, the other end of lower catch bar 713 with it is kneed Briquetting 309 corresponds to.After rotating rotating disc 702 by hand, 701 upper and lower ends of rotating bar are driven to swing, above and below Transfer chain enable the other end of upper and lower catch bar to apply to corresponding hip joint and kneed briquetting 309 respectively Thrust pushes briquetting 309 to act, hip joint and kneed clutch positioning component is made to be in first state or the second state.

Further, as shown in Figure 30, Figure 31 and Figure 32, shank bondage system 40 is additionally provided on leg support component 30, it is small Leg bondage system 40 uses binding strip 601 commonly used in the prior art, can be held together with the shank of people, improvements exist It is additionally provided with shank baffle 602, baffle connecting rod 603, adapting rod 604, throw rod 605 and connection in the shank bondage system 40 Seat 606.The both sides of shank baffle 602 are equipped with connection slot hole 6021, and binding strip 601 is connected to corresponding connection slot hole 6021 It is interior.The connecting seat 606 is fixed on the leg support component 30；The first end of the connecting seat 606 by pin 607 with The first end of the baffle connecting rod 603 is hinged, and the second end of the baffle connecting rod 603 is fixed with the shank baffle 602 Connection；The outside of shank baffle 602 is fixedly connected with the connection sheet 608 there are one arch, and the second end of baffle connecting rod 603 is equipped with Threaded hole, connection bolt 609 pass through the arcuate part of connection sheet 608 and are threaded in the spiral shell of 603 second end of baffle connecting rod In pit, the second end of baffle connecting rod 603 is fixedly connected with shank baffle 602.The first end of the adapting rod 604 passes through Pin 607 and the first end of the baffle connecting rod 603 are hinged, and the baffle connecting rod 603 is hinged with the adapting rod 604 Point is positioned at the outside of the baffle connecting rod 603 and 606 hinge joint of the connecting seat.The first end of the throw rod 605 passes through Pin 610 and the second end of the adapting rod 604 are hinged, and the second end of the throw rod 605 is pulling head 611, described to pull The middle part of bar 605 is hinged by the second end of pin 612 and the connecting seat 606, the throw rod 605 and the connecting seat 606 hinge joint is located between the first end and second end of the throw rod 605.Wherein, the pivot center of each hinge joint is equal To be vertical, i.e., the pin of hinged place is worn vertically.

Further, it is located on connecting seat 606 beside connecting seat 606 and 605 hinge joint of throw rod and is additionally provided with a vertical side To installation through-hole, which penetrates into the surface opposite with throw rod 605 from the top surface of connecting seat 606.Installation Jackscrew 613, compressed spring 614 and top 615 are equipped in through-hole；The top of installation through-hole is equipped with internal thread, and 613 screw thread of jackscrew connects It is connected on installation through-hole top, 614 upper end of compressed spring is resisted against on jackscrew 613, and lower end is resisted against on top 615, by top 615 It releases downwards.Internal diameter is less than top 615 outer diameter at the lower end port of installation through-hole, and top 615 part is made to reach installation Without departing from installation through-hole outside through-hole.The top surface of throw rod 605 is equipped with the pit with top 615 cooperation, the pit Position meets, when the hinge joint of throw rod 605 and connecting seat 606, the hinge joint of throw rod 605 and adapting rod 604 and switching The hinge joint three of bar 604 and baffle connecting rod 603 on the same line when, top 615 are fastened in the pit and form locking. When needing to rotate on shank baffle 602 and baffle connecting rod 603, the pulling head 611 of throw rod 605 is gently pulled with hand to carry out Unlock.

Wearer is before dressing shank bondage system 40, and shank baffle 602 is in the unlocked state, as shown in figure 32, i.e., Shank baffle 602 can turn to the one of leg support component 30 around the hinge joint of baffle connecting rod 603 and connecting seat 606 Side makes shank baffle 602 not keep off before wearer leg, dry between wearer leg and shank baffle 602 to avoid It relates to.After the shank of wearer, which enters, is clothed to wearing position, push shank baffle 602 around baffle connecting rod 603 with connect Shank baffle 602 is brought together into wearing by the front side that the hinge joint of seat 606 turns to leg support component 30 as shown in figure 31 On front side of person's shank and it is close to wearer's shank fibula.At this point, the hinge joint of throw rod 605 and connecting seat 606, throw rod 605 with The hinge joint and adapting rod 604 of adapting rod 604 and the hinge joint three of baffle connecting rod 603 on the same line, top 615 It is fastened in pit and forms locking.Then shank baffle 602 is strapped in by wearer's shank by binding strip 601 and completes wearing. When taking off 602 bondage component of shank baffle, only the pulling head 611 of throw rod 605 need to gently be pulled down to side, you can unlock is simultaneously Rotate shank baffle 602.

From the above mentioned, wearable lower limb exoskeleton robot 10000 of the invention winds drive system, driving using line Component can simplify the structure of each joint, alleviate the weight of exoskeleton robot lower limb with centralized arrangement in waist.Its Clutch positioning component at hip joint and knee joint uses clutch sleeve 301, clutch core 302, compressed spring 614 and steel ball Coordinate with trapezoid spline slot, drives steel ball to stretch out or bounce back by the steel ball head on 302 surface of clutch core, structure letter It is single, it locks and unlocks and is easy to operate.Shank bondage system 40 using shank baffle 602, baffle connecting rod 603, adapting rod 604, What throw rod 605 and connecting seat 606 were constituted pulls locking mechanism, and can shank baffle 602 side be turned to before wearing, It avoids generating interference with the shank of wearer, when unlock, which only need to gently pull corresponding pulling head 611, to be unlocked, and wearing is facilitated to grasp Make.

The foregoing is merely the schematical specific implementation modes of the present invention, are not limited to the scope of the present invention.It is any Those skilled in the art, made equivalent variations and modification under the premise of not departing from design and the principle of the present invention, The scope of protection of the invention should be belonged to.

Claims

1. a kind of wearable lower limb exoskeleton robot, which is characterized in that the wearable lower limb exoskeleton robot includes waist Shoulder bondage system and leg exercise system, the waist shoulder bondage system is for dressing and being fixed on human body upper body；The leg fortune Dynamic system is equipped with two sets, is separately positioned on the position of human body left leg and right leg, two sets of leg exercise systems are respectively fixedly connected with The both sides of the waist shoulder bondage system；Often set leg exercise system includes line winding drive system, hip joint support member, thigh Support member and leg support component；The hip joint support member is connected with the thigh support component upper ends by hip joint It connects, the thigh support lower is connected with leg support component upper end by knee joint；The line winds drive system packet Include drive component, driving capstan winch, the hip joint capstan winch for driving hip joint movement, knee joint capstan winch, the hip for driving motion of knee joint Joint drive line and knee joint drive line；The driving component is arranged in the hip joint support member and is located at human lumbar Portion, the driving capstan winch are connect with the driving component；The hip joint capstan winch is separately positioned on institute with the knee joint capstan winch It states at hip joint and the knee joint, the driving component drives line and the knee joint to drive line by the hip joint respectively The hip joint capstan winch and the knee joint capstan winch is driven to rotate；

Shank bondage system is additionally provided on the leg support component, the shank bondage system includes shank baffle, baffle company Extension bar, adapting rod, throw rod and connecting seat；The connecting seat is fixed on the leg support component；The of the connecting seat One end and the first end of the baffle connecting rod are hinged, and the second end of the baffle connecting rod is fixed with the shank baffle to be connected It connects；The first end of the adapting rod and the first end of the baffle connecting rod are hinged, the baffle connecting rod and the adapting rod Hinge joint be located at the outside of the baffle connecting rod and the connecting seat hinge joint；The first end of the throw rod with described turn The second end of extension bar is hinged, and the second end of the throw rod is pulling head, and the second end of the throw rod and the connecting seat is cut with scissors It connects, the hinge joint of the throw rod and the connecting seat is located between the first end and second end of the throw rod；Wherein, each The pivot center of hinge joint is vertical.

2. wearable lower limb exoskeleton robot as described in claim 1, which is characterized in that the driving component includes that hip closes Save driving motor and knee joint driving motor；The driving capstan winch includes hip joint driving capstan winch and knee joint driving capstan winch；Institute It states hip joint driving motor and the knee joint driving motor is each attached in the hip joint support member, the hip joint drives The hip joint is connected by the first unilateral bearing on the output shaft of dynamic motor and drives capstan winch, the knee joint driving motor it is defeated The knee joint is connected by the second unilateral bearing on shaft and drives capstan winch；The outside of the hip joint driving capstan winch and the hip The simultaneously wound hip joint in outside of joint capstan winch drives line；The outside of the knee joint driving capstan winch and the knee joint twist The simultaneously wound knee joint in outside of disk drives line.

3. wearable lower limb exoskeleton robot as claimed in claim 2, which is characterized in that hip joint driving capstan winch by Can first segment cylinder and the second segment cylinder axis of separation form to docking；The first segment cylinder and second segment cylinder Docking end face on be equipped with the first compressed grooves；The periphery of the hip joint driving capstan winch is equipped with the first helicla flute, institute State winding and guiding that the first helicla flute drives line for the hip joint；

The knee joint drives capstan winch to be formed from the third section cylinder that can detach and the 4th section of cylinder axis to docking；Described Three sections of cylinders are equipped with the second compressed grooves with the 4th section of docking for cylinder on end face；The circle of the knee joint driving capstan winch Column surface is equipped with the second helicla flute, winding and guiding of second helicla flute for knee joint driving line.

4. wearable lower limb exoskeleton robot as claimed in claim 3, which is characterized in that the hip joint capstan winch is ladder The middle part of shape cylinder, the hip joint capstan winch is enlarged diameter section, and third helicla flute is arranged in the periphery of the enlarged diameter section； The both ends of the hip joint capstan winch are reduced diameter section, and separation fixed pulley is arranged with respectively on the reduced diameter section at both ends, described Separation fixed pulley is resisted against the end face of the enlarged diameter section and can be rotated relative to the hip joint capstan winch, and the knee joint drives line The separation fixed pulley at both ends is bypassed respectively, and the separation fixed pulley is by the rotation of the hip joint capstan winch and the knee joint The movement of driving line is separated from each other；A part for the hip joint driving line is embedded in first compressed grooves and is compacted solid Fixed, another part of the hip joint driving line is wrapped in first helicla flute and the third helicla flute；

The knee joint capstan winch is cylinder, and the periphery of the knee joint capstan winch is equipped with the 4th helicla flute；The knee joint A part for driving line is embedded in second compressed grooves and is secured in a press, and another part of the knee joint driving line twines It is wound in second helicla flute and the 4th helicla flute.

5. wearable lower limb exoskeleton robot as claimed in claim 2, which is characterized in that the hip joint support member packet Include hip joint support base and hip joint Supporting cover；The hip joint support cover buckle conjunction forms box body on the hip joint support base Structure；The hip joint driving motor and the knee joint driving motor are fixed on hip joint support base side and vertically stretch Go out outside the hip joint support base, the output of the output shaft of the hip joint driving motor and the knee joint driving motor Axis stretches into the hip joint support base；The hip joint driving capstan winch, knee joint driving capstan winch and the hip joint twist Disk is respectively positioned in the hip joint support base.

6. wearable lower limb exoskeleton robot as described in claim 1, which is characterized in that the hip joint support member packet Include hip joint support base and hip joint Supporting cover；The thigh support component includes thigh support seat and thigh support lid；It is described Hip joint includes the hip joint capstan winch and clutch positioning component；The hip joint Supporting cover and the one of the hip joint support base End is equipped with the first splined hole of perforation；The thigh support seat is equipped with the upper end of the thigh support lid and connect through-hole； The hip joint capstan winch be equipped with axially through the second splined hole；The hip joint capstan winch is located at the hip joint Supporting cover and institute Between stating hip joint support base, the thigh support lid, the hip joint support base is arranged in the outside of the hip joint Supporting cover Outside the thigh support seat is set；The connection through-hole, first splined hole and second splined hole are coaxially disposed； The clutch positioning component is threaded through in the connection through-hole, first splined hole and second splined hole, the clutch The both ends of positioning component are fixedly connected with the thigh support seat, the thigh support lid respectively, and the clutch positioning component It can be with first splined hole or second splined hole locking and unlock.

7. wearable lower limb exoskeleton robot as claimed in claim 6, which is characterized in that the clutch positioning component includes Clutch sleeve, clutch core, clutch cover board, compressed spring and steel ball；The clutch sleeve includes a cylindrical sleeves, the circle There is column sleeve cylinder open end and closed end, the circumferential edges of the open end to be equipped with ring flange；The cylindrical sleeves are coaxially worn In the connection through-hole, first splined hole with second splined hole, the closed end extends to the thigh support Lid side；The ring flange is fixedly connected with the thigh support seat, the clutch cover board and the thigh support lid and institute Closed end is stated to be fixedly connected with；Coaxial sleeve is equipped with the clutch core in the cylindrical sleeves, the steel ball be supported on it is described from On the outer wall of clutch core；The open end of the clutch sleeve is equipped with spring stop part, the spring stop part and the clutch The compressed spring is equipped between core；The clutch sleeve is equipped with to be locked with first splined hole or second splined hole And the locking system of unlock.

8. wearable lower limb exoskeleton robot as claimed in claim 7, which is characterized in that the knee joint includes the knee Joint capstan winch and clutch positioning component；The upper end of the leg support component is fixed with the inside top plate being oppositely arranged and outside top Plate is equipped with the second coaxial connection through-hole on the inside top plate and the lateral roof；It is the thigh support seat, described big The lower end of leg Supporting cover is equipped with the third splined hole of perforation；The knee joint capstan winch be equipped with axially through the 4th splined hole； The knee joint capstan winch is arranged between the thigh support seat and the thigh support lid；The thigh support seat and described big Leg Supporting cover is located between the inside top plate and the lateral roof；It is described second connection through-hole, the third splined hole with The 4th splined hole coaxial arrangement；The kneed clutch positioning component is threaded through the second connection through-hole, described the In three splined holes and the 4th splined hole, the both ends of the kneed clutch positioning component respectively with the inside top plate, The lateral roof is fixedly connected, and the kneed clutch positioning component can be with the third splined hole or the 4th flower Keyhole locks and unlock.

9. wearable lower limb exoskeleton robot as claimed in claim 8, which is characterized in that the kneed clutch positioning Component includes clutch sleeve, clutch core, clutch cover board, compressed spring and steel ball, and the kneed clutch sleeve includes One cylindrical sleeves, the kneed cylindrical sleeves have open end and closed end, the circumferential edge of the kneed open end Edge be equipped with ring flange, the kneed cylindrical sleeves be coaxially threaded through it is described second connection through-hole, the third splined hole with In 4th splined hole, the kneed closed end extends to the lateral roof side；The kneed ring flange It is fixedly connected with the inside top plate, the kneed clutch cover board and the lateral roof and described kneed silent End is fixedly connected with；Coaxial sleeve is equipped with the kneed clutch core, the knee joint in the kneed cylindrical sleeves Steel ball be supported on the outer wall of the kneed clutch core；The open end of the kneed clutch sleeve is equipped with spring Stop part is equipped with the kneed compression bullet between the kneed spring stop part and the kneed clutch core Spring；The kneed clutch sleeve be equipped with the third splined hole or the 4th splined hole locking and unlock Locking system.

10. wearable lower limb exoskeleton robot as claimed in claim 9, which is characterized in that the barrel of the cylindrical sleeves It is axial successively equipped with three circle steel ball pilot holes for upper edge, and each circle steel ball pilot hole is distributed uniformly and circumferentially；Described first Splined hole, second splined hole, the third splined hole, the 4th splined hole hole wall on circumferencial direction be uniformly provided with it is more A axially extending spline；Steel ball is equipped in the steel ball pilot hole；The clutch core can be in the cylindrical sleeves inner shaft To reciprocatingly sliding, the outer wall of the clutch core is equipped with steel ball head, makes the steel by the steel ball head Pearl stretches out or retracts along the steel ball pilot hole, the steel ball and first splined hole, second splined hole, the third Spline in splined hole or the 4th splined hole, which cooperatively forms, to be locked or unlocked；The clutch core and the steel ball are constituted The locking system.

11. wearable lower limb exoskeleton robot as claimed in claim 10, which is characterized in that the steel ball head packet Protruding cylinder surface and fluted column face are included, the circular conical surface between the protruding cylinder surface and fluted column face to seamlessly transit；The clutch Core one end opposite with the closed end is equipped with briquetting outstanding；The briquetting passes through the closed end and the clutch Cover board extends；It is reciprocal under the reply force effect of external force and the compressed spring of the clutch core in the briquetting Sliding, the steel ball are stretched out or are retracted along the steel ball pilot hole under the action of protruding cylinder surface and fluted column face.

12. wearable lower limb exoskeleton robot as claimed in claim 6, which is characterized in that the hip joint Supporting cover One section of circular arc limiting slot, the circular arc limiting slot and first spline are equipped on the outside of outside and the hip joint support base Hole is arranged concentrically；The thigh support covers and is respectively and fixedly provided with a limit on the inside of the inside and thigh support seat upper end at end Pin, the spacer pin are embedded into the corresponding circular arc limiting slot.

13. wearable lower limb exoskeleton robot as claimed in claim 8, which is characterized in that thigh support lid lower end Outside and thigh support seat lower end on the outside of be equipped with one section of circular arc limiting slot, the circular arc limiting slot and the third Splined hole is arranged concentrically；On the side contacted with the thigh support lid on the lateral roof and the inside top plate with it is described The tactile side of thigh support seated connection is respectively and fixedly provided with a spacer pin, and the spacer pin is embedded into the corresponding circular arc limiting slot.

14. wearable lower limb exoskeleton robot as claimed in claim 11, which is characterized in that on the thigh support component It is additionally provided with the unlocking mechanism for pushing the briquetting；The unlocking mechanism include rotating bar, connecting rod, vertical guide rod, Guide rod seat and catch bar；What the rotating bar can be swung in perpendicular is hinged on the outside of the thigh support component, institute The first end of the swinging end and the vertical guide rod of stating rotating bar is hinged with the both ends of head rod respectively；The guide rod seat is solid It is scheduled on the outside of the thigh support component and equipped with hole is vertically directed, the vertical guide rod slides through described be vertically directed Hole；One end of the catch bar is hinged on the guide rod seat, the position pair of the other end of the catch bar and the briquetting It answers；The second end of the catch bar and the vertical guide rod is hinged with the both ends of the second connecting rod respectively.

15. wearable lower limb exoskeleton robot as claimed in claim 14, which is characterized in that the rotating bar is fixed on one On rotating disc, the rotating disc is rotatably connected on the outside of the thigh support component by horizontal rotating shaft, the rotating bar by The rotating disc drives to be swung around the horizontal rotating shaft.

16. wearable lower limb exoskeleton robot as described in claim 1, which is characterized in that be located at institute on the connecting seat State the installation through-hole that a vertical direction is additionally provided with beside connecting seat and the throw rod hinge joint；From upper in the installation through-hole It is equipped with jackscrew, compressed spring and top successively downwards；The jackscrew is threaded in the installation through-hole top, the compression bullet Spring be resisted against the jackscrew and it is described it is top between and can be by the top downward ejection；The throw rod and the installation through-hole Opposite top surface, which is equipped with, can make the top card set pit therein.

17. wearable lower limb exoskeleton robot as described in claim 1, which is characterized in that the wearable lower limb dermoskeleton Bone robot further includes crutch and electric appliance control box；The waist shoulder bondage system is equipped with chest strap, waistband and waist fixed plate；It is described Electric appliance control box is equipped with chest strap junction button, and the chest strap is strapped in human chest, and will be described by the chest strap junction button Electric appliance control box is fixed on human body back；The waist fixed plate is equipped with waistband junction button, and the waistband is strapped in human lumbar Portion, and the waist fixed plate is fixed on by human body rear waist by the waistband junction button；The left and right of the waist fixed plate Both sides are fixedly connected by L-shaped connecting plate with the hip joint support member of respective side respectively.