CN113768756A - Wearable electric intelligent exoskeleton device for helping disabled - Google Patents
Wearable electric intelligent exoskeleton device for helping disabled Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
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- Pain & Pain Management (AREA)
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Abstract
The invention discloses a wearable electric intelligent disabled assisting exoskeleton device, which comprises a waist ring, a crotch ring, a plurality of driving connecting rod assemblies connected between the waist ring and the crotch ring, a back frame and lower limb assisting exoskeletons, wherein the back frame is connected with the waist ring; the wearable power-assisted exoskeleton device is driven by a multi-rod structure to form basic step-shaped movement, can realize fine control of body postures and leg actions through manual control, realizes the assistance of walking movement on the premise of keeping good load assistance of a system, and reduces the load of the walking movement of a wearer.
Description
Technical Field
The invention belongs to the technical field of wearable power-assisted exoskeleton machinery, and particularly relates to a wearable electric intelligent disabled-assisting exoskeleton device.
Background
The wearable power-assisted exoskeleton is a mechanical device which can be worn outside the body of an operator and can assist the disabled, and can provide support and protection for the person wearing the exoskeleton and enhance the motion and load bearing capacity. The wearable exoskeleton is widely applied to a plurality of fields such as medical rehabilitation and industrial production application.
Hip joint and waist pole mechanical structure direct influence the activity degree of freedom of user crotch position and waist position among the wearing formula helping hand ectoskeleton, and the waist of current wearing formula ectoskeleton and crotch mechanical structure's joint degree of freedom are not enough, generally only include a plurality of rotational degrees of freedom to cooperate human action, and it is not enough with human actual motion matching ability, the action is slow, supplementary efficiency is difficult to exert, and mechanical joint is thick, and is not good with human laminating degree, and it is poor to dress the comfort level.
Therefore, in order to solve the above problems, a wearable electric intelligent exoskeleton device for helping disabled people is needed, which fits the actual motion of the human body to the maximum extent through multi-rod linkage on the basis of maintaining good wearing matching performance, is beneficial to driving a user to realize complex motions of the hip, the waist, the shoulders and the legs, and is beneficial to improving the man-machine matching performance.
Disclosure of Invention
In view of the above, the present invention provides a wearable electric intelligent exoskeleton device for helping the disabled, which is needed to be attached to the actual motion of the human body to the maximum extent by multi-rod linkage on the basis of maintaining good wearing matching performance, and is beneficial to driving a user to realize complex motions of the hip, the waist, the shoulder and the leg, and to improve the human-computer matching performance.
The invention discloses a wearable electric intelligent disabled-assisting exoskeleton device, which comprises a waist ring matched with a waist, a crotch ring matched with the crotch, a plurality of driving connecting rod assemblies connected between the waist ring and the crotch ring, a back frame worn on shoulders and two lower limb assistance exoskeletons worn on left and right legs, the back frame is arranged above the waist ring and is connected with the waist ring, the two lower limb assistance exoskeletons are respectively connected with the left side and the right side of the crotch ring, the driving connecting rod assembly comprises a driving telescopic rod, an upper hinge head and a lower hinge head, the upper end of the upper hinge head is rotationally matched with the waist ring by taking a Z-direction axis as a center, the lower end of the upper hinge head is in rotating fit with the upper end of the driving telescopic rod by taking a horizontal axis as a center, the lower end of the lower hinge head is in rotating fit with the crotch ring by taking a Z-direction axis as a center, and the upper end of the lower hinge head is in rotating fit with the lower end of the driving telescopic rod by taking the horizontal axis as a center.
Further, the lower limb assistance exoskeleton comprises a thigh connecting rod, a shank connecting rod, a action connecting rod and a driving assembly, wherein the action connecting rod is used for driving the thigh connecting rod and the shank connecting rod to swing and can be actively stretched and contracted, and the driving assembly is used for providing power for the action connecting rod; the upper end of the thigh connecting rod is connected with the crotch ring in a matched mode through a rotating pair, the lower end of the thigh connecting rod and the lower end of the action connecting rod are respectively connected with the upper end of the shank connecting rod in a matched mode through a rotating pair to form two rotating pairs, and the driving assembly is installed on the crotch ring and is in driving fit with the upper end of the action connecting rod to drive the action connecting rod to swing so as to drive the thigh connecting rod and the shank connecting rod to swing relatively and achieve striding movement.
Further, be connected through a plurality of main actuators between back of the body frame and the waist ring, main actuator includes the flexible post of initiative, goes up the articulated head and articulated head down, it uses Z to the axis as central normal running fit with the back of the body frame to go up articulated head upper end, go up articulated head lower extreme and the flexible post upper end of initiative and use horizontal axis as central normal running fit, articulated head lower extreme and waist ring use Z to the axis as central normal running fit down, articulated head upper end and the flexible post lower extreme of initiative use horizontal axis as central normal running fit down.
Furthermore, the driving telescopic rod, the driving telescopic column and the action connecting rod respectively comprise an outer barrel, an inner rod which can axially extend and retract and is sleeved in the outer barrel, and a telescopic driving piece which is arranged in the outer barrel and used for driving the inner rod to extend and retract.
Further, the crotch ring includes half left crotch ring and half right crotch ring, half left crotch ring and half right crotch ring are C column structure and are used for conformal the embracing in the left and right sides of crotch, be connected with the curb plate, two under half left crotch ring and the half right crotch ring lower limb helping hand ectoskeleton is connected respectively on two curb plates.
Further, the waist ring includes the waistband, is fixed in a plurality of installation festivals and hasp on the waistband, go up the rotatable installation of hinge joint and lower hinge joint on the installation festivals, the hasp sets up and is used for adjusting the waistband elasticity on the waistband.
Furthermore, the two groups of driving connecting rod assemblies are respectively connected between the waist ring and the left half crotch ring and between the waist ring and the right half crotch ring, each group of driving connecting rod assemblies at least comprises six driving connecting rod assemblies, the two groups of driving connecting rod assemblies are annularly arranged around the waist ring, and every two adjacent driving connecting rod assemblies are in a V-shaped layout.
Further, the back frame comprises a left shoulder frame and a right shoulder frame which are in an inverted U shape and a back plate connected between the back of the left shoulder frame and the back of the right shoulder frame, the active actuators are provided with three groups, and the active actuators are connected between the left shoulder frame and the waist ring, between the right shoulder frame and the waist ring and between the back plate and the waist ring respectively.
Furthermore, each group of the active actuators comprises two active actuators, and the two active actuators are arranged in a V shape.
Further, the driving assembly comprises a rotating wheel pair which is installed on the machine body in a rotating fit mode, a driving device for driving the rotating wheel pair to rotate and a rocker arm, the upper end of the action connecting rod is in eccentric rotating fit with the rotating wheel pair, two ends of the rocker arm assembly are respectively matched with the crotch ring and the upper end of the action connecting rod through rotating pairs, and the rotating pair formed by the rocker arm assembly and the action connecting rod is located above the rotating pair formed by the rotating wheel pair and the action connecting rod.
The invention has the beneficial effects that:
the invention takes the active actuator, the active connecting rod assembly and the action connecting rod as the executing mechanism, constructs a multi-rod type multi-degree-of-freedom trunk support control system, takes the rigid back frame as the structure shaping device, constructs a multi-degree-of-freedom virtual spine through the cooperation of the multiple rods, keeps the supporting and righting effect of the trunk support control system on the trunk part of the body of a wearer, and always maintains good structural stability and bearing performance. The whole system adopts a crank-connecting rod-rocker structure, a multi-rod type multi-degree-of-freedom virtual crotch joint mechanism and a multi-rod type multi-degree-of-freedom backpack load transmission system to form a wearable electric power-assisted exoskeleton device which is stable in structure, reliable in load transmission and free in movement under the condition of upper and lower load transmission connection of a semi-flexible waistband, achieves autonomous walking and good supporting and righting functions of the exoskeleton and can effectively assist disabled people with incapability of moving to recover the movement capability.
The wearable power-assisted exoskeleton device is driven by a multi-rod structure to form basic step-shaped movement, fine control of body posture and leg actions can be realized through manual control, on the premise of keeping good load assistance of a system, walking movement assistance is realized, the load of walking movement of a wearer is reduced, the wearer can realize flexible movement under the drive of the exoskeleton without paying a manual control load, and meanwhile, the load bearing capacity and the action capacity of the wearer are improved; on the premise of keeping good supporting assistance of the system, efficient and fine rehabilitation assistance movement of the disabled is achieved, the recovery of the autonomous mobility of the disabled and even high-level paraplegic patients is facilitated, the multi-rod cooperative structure can achieve good supporting and righting effects and rich and flexible freedom of movement, good body fitting degree and wearing comfort can be guaranteed, and the multifunctional rehabilitation assistance device can become a competent assistant for the disabled to recover normal life;
the invention constructs a multi-rod type multi-degree-of-freedom follow-up wearable exoskeleton structure which is adaptive to the upper half of a human body by combining a back frame, a waist ring, a left half crotch ring and a right half crotch ring with a plurality of driving connecting rod assemblies and a plurality of driving actuators, takes the driving connecting rod assemblies and the driving actuators as actuating mechanisms, can actively drive the waist and the shoulders of the human body to move, can be used as a disabled assisting exoskeleton to control the body, and realizes the electric control of the posture control of the human body; on the premise of keeping good man-machine matching of a mechanical structure, good load transfer capacity and enough flexibility between the back and the waist and the leg can be realized;
the driving assembly is matched with the multi-connecting-rod structure, so that the whole bionic mechanical exoskeleton wearing device is driven, the structure of the lower limb assistance exoskeleton is simplified, the weight of the whole exoskeleton is reduced, and the user experience is improved; on the basis that the lower limb assistance exoskeleton is matched with the rocker arm cooperative mechanism through the crank connecting rod mechanism, basic conversion between single motor driving and human body step-shaped motion is constructed through differential matching of the thigh exoskeleton and the driving connecting rod, and efficient assistance of general step-shaped motion is realized; meanwhile, the knee joint angle active fine adjustment capability is realized by matching with the extension of the driving connecting rod.
The invention can keep good load transfer capability and motion freedom degree between the mechanical leg structure and the trunk, realizes good man-machine matching characteristic on the basis of ensuring good human body fitting degree, comfort and transfer capability, has good man-machine efficacy and accurate bionic action capability, and provides a good waist-leg transition mechanism for the wearable exoskeleton power-assisted system;
the openable waist ring, the left half-crotch ring and the right half-crotch ring which are in left-right surrounding shapes are used for being attached to the waist and the crotch of a user to construct a ring-shaped surrounding waist ring structure and a C-shaped half-surrounding crotch ring structure, and the multi-rod cooperation mechanism forms an internal C-shaped hollow structure to accommodate the crotch of a human body and facilitate wearing; the waistband is convenient to wear and maintain the structural stability under the wearing condition due to the integrity and the openability of the waistband, the lock catch is a locking structure of the waistband, and the waistband is attached to the waist of a human body in a locking state so as to maintain the relative rigidity of the waistband structure; the good fit characteristic of the mechanical structure and the human body is kept, the joint position blurring and adjustability are realized based on the plurality of driving connecting rod assemblies, and the bionic robot has good man-machine effect and accurate bionic action capability;
the invention constructs a multi-rod multi-degree-of-freedom bearing load transfer system, takes a rigid back frame as a structural shaping device of a bearing system, constructs a multi-degree-of-freedom virtual spine through multi-rod cooperation, keeps the bearing system capable of driving the body of a wearer to move so that the body can follow the movement and always maintain good bearing performance, and when the bearing system bears the load, the stress can be transferred to a crotch ring and then transferred to mechanical legs through the back frame, the active actuator, the waist ring and the active connecting rod assembly, so that the body feeling load is reduced, the bearing system is better applied to high-strength load scenes, the load capacity of a user is improved, the load transfer capacity and the system stability from the bearing system to the crotch to the mechanical legs are maintained, and the good load transfer capacity is maintained.
Drawings
The invention is further described below with reference to the figures and examples.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a partial schematic view of FIG. 1;
FIG. 3 is a schematic front view of the structure of FIG. 2;
FIG. 4 is a partial schematic view of FIG. 2;
FIG. 5 is a schematic top view of the structure of FIG. 4;
FIG. 6 is a bottom view of the structure of FIG. 4;
FIG. 7 is a schematic view of the active link assembly;
FIG. 8 is a schematic structural view of a lower extremity assist exoskeleton;
FIG. 9 is a partial schematic view of FIG. 3;
FIG. 10 is a partial schematic view of FIG. 4;
Detailed Description
As shown in the figure: the wearable electric intelligent disabled-assisting exoskeleton device comprises a waist ring 1 matched with a waist, a crotch ring 2 matched with the crotch, a plurality of driving connecting rod assemblies 3 connected between the waist ring and the crotch ring, a back frame 4 used for being worn on shoulders and two lower limb assistance exoskeletons 6 used for being worn on left and right legs, wherein the back frame 4 is arranged above the waist ring 1 and connected with the waist ring 1, the two lower limb assistance exoskeletons 6 are respectively connected to the left side and the right side of the crotch ring 2, each driving connecting rod assembly comprises a driving telescopic rod, an upper hinge head 3a and a lower hinge head 3b, the upper end of the upper hinge head 3a is rotationally matched with the waist ring 1 by taking a Z-direction axis as a center, the lower end of the upper hinge head is rotationally matched with the upper end of the driving telescopic rod by taking a horizontal axis as a center, the lower end of the lower hinge head 3b is rotationally matched with the crotch ring 2 by taking the Z-direction axis as a center, the upper end of the lower hinge head 3b is in rotating fit with the lower end of the driving telescopic rod by taking a horizontal axis as a center.
The Z direction is consistent with the vertical direction, the horizontal plane is a plane perpendicular to the Z direction, and as shown in the figure 1, the waist ring is used for being sleeved on the waist of a user, the crotch ring is used for being attached to the crotch of the user, the back frame is worn on the shoulder of the human body, the lower limb assisting exoskeleton is worn on the legs of the human body, and an exoskeleton device which is adaptive to the human body is formed;
as shown in fig. 2, the upper end of the upper hinge head 3a is a column-shaped hinge rod head vertically penetrating the upper assembling hole of the waist ring and rotatably fitting with the upper assembling hole, and the lower end of the lower hinge head 3b is a column-shaped hinge rod head vertically penetrating the lower assembling hole of the crotch ring and rotatably fitting with the lower assembling hole, similar to the upper hinge head 3 a; the driving connecting rod assembly is a driving telescopic structure which can actively drive the hip joint to make corresponding actions in a telescopic way; the upper end and the lower end of the driving connecting rod assembly can horizontally rotate relative to the waist ring and the crotch ring through the upper hinge head and the lower hinge head so as to adjust the orientation of the driving connecting rod assembly, and meanwhile, the driving connecting rod assembly can also swing to change the inclination direction of the driving connecting rod assembly;
the back frame 4 can be provided with a vest-like structure, the back frame 4 is preferably made of semi-flexible leather, the back frame is worn on the shoulders of a human body to improve the wearing stability of the whole device, meanwhile, the waist ring 1 can have upward tension to improve the stability of the waist ring, a follow-up wearing type exoskeleton structure which is adaptive to the upper half of the human body is formed by the back frame, the waist ring, the crotch ring and the driving connecting rod assemblies, and the device can be matched with all actions of the waist of a user such as bending and twisting the waist, for example, when the user is driven to bend forwards, the driving connecting rod assembly positioned at the front side is actively shortened, the driving connecting rod assembly positioned at the rear side is actively extended, then the upper end and the lower end of each driving connecting rod assembly are self-adaptively rotated through corresponding hinge heads to adapt to the posture of the human body, so that the postures of the waist ring and the crotch ring are matched with the posture of the human body, and similarly, when the user is driven to bend backwards or bend laterally, the active connecting rod assemblies at different positions are respectively actively shortened or actively lengthened to adapt to different stooping postures; when a user twists waist, the driving connecting rod assembly actively extends and the driving connecting rod assembly adjacent to the driving connecting rod assembly actively shortens, so that the waist ring rotates relative to the hip ring to be matched with the waist twisting posture; when the waist and the back of a human body bear load, stress can be transmitted to the waist through the back frame, the waist ring, the driving connecting rod assembly and the crotch ring, so that the waist of the human body is protected, and if the crotch ring is connected with the bionic mechanical legs, the stress is directly transmitted to the lower limb power-assisted exoskeleton through the crotch ring, so that the body feeling load is reduced, the high-strength load-bearing exoskeleton is better applied to high-strength load-bearing scenes, the load-bearing capacity of a user is improved, and the physical strength is saved; the virtual exoskeleton system with the structure can keep good load transfer capability and motion freedom degree between a mechanical leg structure and a trunk, realizes good man-machine matching characteristic on the basis of ensuring good human body fitting degree, comfort and transfer capability, has good man-machine efficacy and accurate bionic action capability, provides a good waist and leg transition mechanism for a wearable exoskeleton power-assisted system, is a passive wearable exoskeleton device, moves along with human body motion, has good transfer capability and better exoskeleton bearing capability;
the wearable power-assisted exoskeleton device can realize fine control of body posture and leg actions through manual control, realize walking motion assistance on the premise of keeping good load assistance of a system, reduce the load of walking motion of a wearer, realize flexible motion under the drive of the exoskeleton without paying a manual control load, and simultaneously improve the load bearing capacity and action capacity of the wearer.
In this embodiment, the lower limb assistance exoskeleton 6 comprises a thigh link 6a, a shank link 6b, a action link 6c for driving the thigh link and the shank link to swing and actively extend and retract, and a driving component for providing power for the action link; the upper end of the thigh connecting rod 6a is connected with the crotch ring in a matched mode through a rotating pair, the lower end of the thigh connecting rod and the lower end of the action connecting rod are respectively connected with the upper end of the shank connecting rod in a matched mode through a rotating pair to form two rotating pairs, and the driving assembly is installed on the crotch ring and is in driving fit with the upper end of the action connecting rod to drive the action connecting rod to swing so as to drive the thigh connecting rod and the shank connecting rod to swing relatively and achieve striding movement.
As shown in fig. 10, a revolute pair formed by the lower end of the action link 6c and the upper end of the lower leg link 6B and a revolute pair formed by the lower end of the thigh link 6a and the upper end of the lower leg link 6B form a first joint point a and a second joint point B of the knee joint, the action link is located at the rear side of the thigh link, the first joint point a is located at the lower side of the second joint point B, the arrangement of the action link and the thigh link is more ergonomic, and the action link drives the thigh link and the lower leg link effectively; in the embodiment, the driving assembly is matched with the multi-link structure, so that the whole bionic mechanical exoskeleton wearing device is driven, the structure of the lower limb assistance exoskeleton is simplified, the weight of the whole exoskeleton is reduced, and the user experience is improved; the structure constructs the basic conversion of single motor driving and human body step-shaped movement through the differential matching of the thigh exoskeleton and the driving connecting rod on the basis of matching the crank connecting rod mechanism with the rocker arm cooperative mechanism, and realizes the high-efficiency assistance of the general step-shaped movement; meanwhile, the knee joint angle active fine adjustment capability is realized by matching with the extension of the driving connecting rod.
In this embodiment, be connected through a plurality of initiative actuator 5 between back of the body frame 4 and the waist ring 1, initiative actuator includes the flexible post of initiative, goes up articulated head 5a and articulated head 5b down, it uses Z to the axis to be central normal running fit with back of the body frame 4 to go up articulated head 5a upper end, go up articulated head 5a lower extreme and the flexible post upper end of initiative and use horizontal axis to be central normal running fit, articulated head 5b lower extreme and waist ring 1 use Z to the axis to be central normal running fit down, articulated head 5b upper end and the flexible post lower extreme of initiative use horizontal axis to be central normal running fit down. As shown in fig. 2, the operation principle of the main actuator 5 is similar to that of the main connecting rod assembly 3, and the details are not repeated herein; all actions of the shoulder part relative to the waist part are driven by the plurality of active actuators, and good load transmission capacity is maintained by the aid of the active actuators, wherein the load transmission capacity and the system stability performance from the back frame to the crotch part to the mechanical legs are favorably maintained.
In this embodiment, the driving telescopic rod, the driving telescopic column and the action link rod each include an outer cylinder 3c, an inner rod 3d axially telescopic and internally sleeved in the outer cylinder, and a telescopic driving member 3e disposed in the outer cylinder for driving the inner rod to extend and retract. Taking the active telescopic rod as an example, as shown in fig. 7, the end portions of the outer cylinder and the inner rod are respectively provided with a connecting end, the two connecting ends are respectively used as the upper end and the lower end of the passive active telescopic rod, and the two connecting ends are respectively in running fit with the upper hinge head 3a and the lower hinge head 3 b; as shown in fig. 4, the telescopic driving member 3e is a servo motor, the inner rod 3d is a hollow structure and has an internal thread, the outer wall of the inner rod is a smooth surface structure and is axially and slidably matched with the inner wall of the outer cylinder, the smooth surface sections of the inner rod and the inner cavity of the outer cylinder are non-circular cross sections, specifically, rectangular, polygonal or other structures, so as to prevent the inner rod from rotating relative to the outer cylinder, the output end of the telescopic driving member 3e is in transmission fit with a lead screw, the lead screw is sleeved in the inner rod and is in transmission fit with the internal rod thread, and the outer cylinder is a detachable double-segment structure so as to facilitate the installation of the telescopic driving member 3 e; the active telescopic rod of the structure is of an incompressible rigid structure, so that the load transmission of stress is facilitated, the telescopic amount can be accurately and actively controlled, and the posture of the wearable hip joint can be effectively controlled; of course, the active telescopic rod can also be realized by a hydraulic cylinder or other linear driving structures, which are not described in detail;
the structure of the action connecting rod and the active telescopic column is the same as that of the active telescopic rod, the difference lies in that two ends of the action connecting rod are respectively matched with the shank connecting rod and the driving component, and the description is omitted here, the active telescopic rod of the structure can be adapted to the relative motion of the human body, the shoulder part and the waist part which can be in the crotch part, and can be used for the disabled-assisting exoskeleton to control the body and realize the electric control of the posture control of the human body; the driving telescopic rod is limited by rigid structures of the outer barrel and the inner rod in the compression direction and has good bearing capacity, the multi-rod cooperative work can ensure that good load transfer performance can be achieved between the exoskeleton back frame and the waist ring and between the exoskeleton waist ring and the crotch ring and between the exoskeleton waist ring and the mechanical legs, the driving telescopic rod can accurately control the telescopic amount, so that the motion joint formed by the multi-rod cooperative action can actively adjust the angle and the position of the joint according to the motion requirement of an external wearer, and man-machine matching can be actively achieved.
In this embodiment, the crotch ring 2 includes a left half crotch ring 2a and a right half crotch ring 2b, the left half crotch ring and the right half crotch ring are C-shaped structures and are used for conformal enclosure around the left and right sides of the crotch, a side plate 2C is connected under the left half crotch ring 2a and the right half crotch ring 2b, and the two lower limb assisting exoskeletons 6 are respectively connected to the two side plates.
As shown in fig. 4 and 6, the left half crotch ring and the right half crotch ring are in left-right surrounding shapes and are used for being attached to the crotch position of a user to construct a C-shaped half surrounding structure, so that the joint structure has good human body attaching degree and excellent man-machine matching performance, joint position blurring and adjustability are realized based on a plurality of active connecting rod assemblies, and the joint structure has good man-machine efficacy and accurate bionic mobility; as shown in connection with fig. 8, the side plates serve as mounting locations for cooperation with the lower extremity assisting exoskeleton 6, so that the gear pair and the drive assembly have sufficient mounting space.
In this embodiment, the waist ring 1 includes a waist belt 1a, a plurality of mounting sections 1b fixed on the waist belt, and a latch 1c, the upper hinge joint 3a and the lower hinge joint 5b are rotatably mounted on the mounting sections, and the latch 1c is disposed on the waist belt 1a for adjusting the tightness of the waist belt.
As shown in fig. 4 and 5, the waist belt is a semi-flexible waist belt, which may be made of plastic or leather, each mounting section radially protrudes out of the waist belt, wherein the mounting section is made of metal or hard plastic, a mounting hole is vertically formed in the mounting section, the upper hinge head is rotatably mounted on the waist belt through the mounting hole, the mounting sections are detachably connected with the waist belt through four screws, and the waist belt is matched with the structure of the mounting sections, so that the flexible wearing requirement of the waist ring is met, and the rigid mounting requirement of the upper hinge head is also met;
the waistband is of a non-closed ring structure, the front part of the waistband is of an opening structure, the lock catch is arranged at the opening structure and enables the opening to be closed or opened, so that the waistband can be integrally formed into a closed structure to be worn on the waist, the lock catch can be fastened by threads or other existing belt lock catch structures, and the tightness of the waist ring is adjusted by the lock catch, so that a human body can conveniently wear the waistband; the semi-flexible waistband has the advantages of integrity and openability, convenience in wearing and maintenance of structural stability under wearing conditions. The waistband buckle is a locking structure of a semi-flexible waistband, and the waistband is attached to the waist of a human body in a locking state, so that the relative rigidity of the waistband structure is maintained. Referring to fig. 1, side plates are respectively connected to the lower parts of the left half crotch ring 2a and the right half crotch ring 2b, the side plates laterally block the crotch of a human body, so that good man-machine matching characteristics are achieved, and meanwhile the side plates are also used as reserved positions for mounting the lower limb assistance exoskeleton.
In this embodiment, the two sets of driving connecting rod assemblies 3 are respectively connected between the waist ring and the left half crotch ring and between the waist ring and the right half crotch ring, each set of driving connecting rod assemblies 3 at least includes six driving connecting rod assemblies, the two sets of driving connecting rod assemblies are annularly arranged around the waist ring, and two adjacent driving connecting rod assemblies are arranged in a V-shape.
As shown in fig. 4, the two sets of driving connecting rod assemblies are respectively located at the left and right sides of the waist of the user, and the structure is adapted to the C-shaped semi-encircling crotch ring structure, so that the man-machine matching performance is improved.
As shown in fig. 2, in this embodiment, each group of driving link assemblies has six driving link assemblies, each two driving link assemblies are arranged in a V-shaped layout, one driving link assembly and the left adjacent driving link assembly are in a V-shaped structure, and the driving link assembly and the right adjacent driving link assembly are necessarily in an inverted V-shaped structure, and certainly, the layout of the adjacent driving link assemblies is in a substantially V-shape, where the V-shaped layout structure does not limit the contact between the proximal ends of the two adjacent driving link assemblies, and the distance between the proximal ends of the two adjacent driving link assemblies is smaller than the distance between the distal ends of the two adjacent driving link assemblies, which is the V-shaped layout structure; referring to FIG. 3, six lower assembling holes matched with the lower hinge heads 3b are respectively formed on the left half crotch ring and the right half crotch ring, each lower assembling hole is in a 2-2-2 layout, two groups are formed in one group, and three groups are formed in total, referring to FIG. 2, twelve upper assembling holes matched with the upper hinge heads 3a are formed on the waist ring, six upper assembling holes are respectively formed on the waist ring in bilateral symmetry, the six upper assembling holes are in a 1-2-2-1 layout, and the whole ring is in a 2-2-2-2-2-2 layout, two groups are formed in six groups, wherein a group of upper assembling holes are respectively formed on the rear side and the left side and the right side of the rear fixing section 1a, a group of upper assembling holes are respectively formed on the left side of the left opening section 1b and the right side of the right opening section 1c, and an upper assembling hole is respectively formed on the front side of the left opening section 1b and the front side of the right opening section 1c, and the two form a group of upper assembling holes; each group of lower assembling holes and each group of upper assembling holes are arranged in a staggered manner in the circumferential direction, so that the driving connecting rod assemblies are arranged in a V-shaped manner two by two; the multi-degree-of-freedom hip joint device is constructed by the multi-connecting-rod structures which are arranged in a V shape in pairs, can be adapted to all action postures of the waist of a human body, and can realize good load transfer capacity and enough flexibility between the waist and the legs on the premise of keeping good man-machine matching of a mechanical structure.
In this embodiment, the back frame 4 includes a left shoulder frame 4a and a right shoulder frame 4b which are in an inverted U shape, and a back plate 4c connected between the backs of the left shoulder frame 4a and the right shoulder frame 4b, the active actuators 5 are provided with three groups, and the three groups of the active actuators 5 are respectively connected between the left shoulder frame 4a and the waist ring 1, between the right shoulder frame 4b and the waist ring 1, and between the back plate 4c and the waist ring 1. As shown in the combined figure 1, the back frame is adaptive to the position of the shoulder of a human body, the whole control device is convenient to wear, good support and connection performance between the back frame and the waist ring are guaranteed through connection of three active actuators, and good human-computer matching characteristics are achieved on the basis of good human body fitting degree, comfort and carrying capacity.
In this embodiment, each group of active actuators 5 includes two active actuators, and the two active actuators are arranged in a V shape. In one group of the active actuators, two active actuators are respectively connected between the front end of a left shoulder frame and a waist ring 1 and between the rear end of the left shoulder frame and the waist ring 1, in the other group of the active actuators, two active actuators are respectively connected between the front end of a right shoulder frame and the waist ring 1 and between the rear end of the right shoulder frame and the waist ring 1, in the third group of the active actuators 5, two active actuators are connected between the left side of a back plate and the waist ring 1 and between the right side of the back plate and the waist ring 1, and the three groups of the active actuators are arranged in a V shape with a large top and a small bottom to be matched with the structures of the back frame 4 and the waist ring; the bearing system is constructed, a rigid back frame is used as a structural shaping device of the bearing system, a multi-degree-of-freedom virtual spine is constructed through multi-rod cooperation, the bearing system can drive the body posture of a wearer to enable the body to follow the movement and maintain good bearing performance all the time, and when the bearing system bears the load, the stress can be transmitted to the hip ring through the back frame, the active actuator, the waist ring and the active connecting rod assembly, so that the body feeling load is reduced, the bearing system is better applied to high-strength load scenes, the load bearing capacity of the user is improved, the load transmission capacity from the bearing system to the hip to the mechanical legs and the system stability performance are maintained, and the good load transmission capacity is maintained.
In this embodiment, the driving assembly includes a rotating wheel pair rotatably mounted on the machine body, a driving device 6d for driving the rotating wheel pair to rotate, and a rocker arm 6e, the upper end of the action link is eccentrically and rotatably coupled to the rotating wheel pair, two ends of the rocker arm assembly are respectively coupled to the crotch ring and the upper end of the action link through the rotating pair, and the rotating pair formed by the rocker arm assembly and the action link is located above the rotating pair formed by the rotating wheel pair and the action link.
As shown in fig. 9 and 10, the rotating wheel pair includes a driving gear 6f and a driven crank disk 6g, the driving gear 6f is engaged with the machine body through the rotating pair, the driven crank disk 6g is annular and has internal teeth, the driving gear is located in the driven crank disk and forms a gear pair transmission with the driven crank disk, the upper end of the action connecting rod is eccentrically and rotationally engaged with the driven gear, and the driving gear is in transmission engagement with the driving device 6 d; the driving device 6d is a bidirectional speed reducing motor, the driving gear is driven to rotate by the bidirectional speed reducing motor to realize power driving under the basic step-shaped condition, an inertia device such as a flywheel can be arranged between the bidirectional speed reducing motor and the driving gear, the inertia energy is recycled and maintained by the inertia device, and the energy efficiency of the system is improved; when the rocker arm is a rigid arm, the length of the rocker arm is unchanged, the maximum swing amplitude of the thigh connecting rod is controlled through the restraint of the rocker arm on the upper end of the action connecting rod, so that the maximum step shape of the mechanical leg is controlled,
the lower limb assistance exoskeleton 6 further comprises feet which are connected to the lower end of the shank connecting rod in a matching mode through a revolute pair, and the feet comprise foot side walls 6h connected with the bottom of the shank connecting rod through revolute pairs and foot bottom pedals 6i fixedly connected to the bottom of the foot side walls; when the ankle joint is used, the foot pedal is used as a supporting surface of the mechanical leg, the height matching between the mechanical leg and the ground is formed, and the supporting effect of the mechanical leg is improved; leg straps 6j are arranged in the middle of the thigh connecting rod and the middle and the bottom of the shank connecting rod, and foot straps 6k are arranged on the foot side 6h, wherein the leg straps and the foot straps can be elastic straps or nylon thread gluing structures, and the nylon thread gluing structures are preferred in the embodiment and are not specifically described;
finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (10)
1. The utility model provides a wear type electronic intelligent disabled-helping ectoskeleton device which characterized in that: including be used for with waist complex waist ring, be used for with crotch complex crotch ring, connect a plurality of initiative link assembly between waist ring and crotch ring, be used for wearing in the back of the body frame of shoulder and be used for wearing in two low limbs helping hand ectoskeletons of left and right shank, the back of the body frame sets up in the top of waist ring and is connected, two with the waist ring lower limbs helping hand ectoskeleton is connected respectively in the crotch ring left and right sides, initiative link assembly includes initiative telescopic link, last hinge head and lower hinge head, it uses Z to the axis to rotate the cooperation as the center with the waist ring to go up hinge head upper end, go up hinge head lower extreme and initiative telescopic link upper end and use horizontal axis to rotate the cooperation as the center, hinge head lower extreme and crotch ring use Z to the axis to rotate the cooperation as the center with the initiative telescopic link lower extreme.
2. The wearable electric intelligent disabled-assisting exoskeleton device of claim 1, wherein: the lower limb assistance exoskeleton comprises a thigh connecting rod, a shank connecting rod, a action connecting rod and a driving assembly, wherein the action connecting rod is used for driving the thigh connecting rod and the shank connecting rod to swing and can be actively stretched and contracted; the upper end of the thigh connecting rod is connected with the crotch ring in a matched mode through a rotating pair, the lower end of the thigh connecting rod and the lower end of the action connecting rod are respectively connected with the upper end of the shank connecting rod in a matched mode through a rotating pair to form two rotating pairs, and the driving assembly is installed on the crotch ring and is in driving fit with the upper end of the action connecting rod to drive the action connecting rod to swing so as to drive the thigh connecting rod and the shank connecting rod to swing relatively and achieve striding movement.
3. The wearable electric intelligent disabled-assisting exoskeleton device of claim 2, wherein: the utility model discloses a flexible waist ring, including back of the body frame, back of the body frame and waist ring, be connected through a plurality of main actuators between frame and the waist ring, main actuator includes the flexible post of initiative, goes up the articulated head and hinges down with back of the body frame and use Z to the axis as central normal running fit, go up articulated head lower extreme and the flexible post upper end of initiative and use horizontal axis to be central normal running fit, articulated head lower extreme and waist ring use Z to the axis as central normal running fit down, articulated head upper end and the flexible post lower extreme of initiative use horizontal axis to be central normal running fit down.
4. The wearable electric intelligent disabled-assisting exoskeleton device of claim 3, wherein: the driving telescopic rod, the driving telescopic column and the action connecting rod respectively comprise an outer barrel, an inner rod which can be axially telescopic and sleeved in the outer barrel, and a telescopic driving piece which is arranged in the outer barrel and used for driving the inner rod to stretch.
5. The wearable electric intelligent disabled-assisting exoskeleton device of claim 1, wherein: the crotch ring includes half crotch ring on the left side and half crotch ring on the right side, half crotch ring on the left side and half crotch ring on the right side are C column structure and are used for conformal the surrounding in the left and right sides of crotch, be connected with the curb plate, two under half crotch ring on the left side and half crotch ring on the right side lower limbs helping hand ectoskeleton is connected respectively on two curb plates.
6. The wearable electric intelligent disabled-assisting exoskeleton device of claim 3, wherein: the waist ring comprises a waistband, a plurality of mounting sections and lock catches, wherein the mounting sections and the lock catches are fixed on the waistband, the upper hinge joint and the lower hinge joint are rotatably mounted on the mounting sections, and the lock catches are arranged on the waistband and used for adjusting the tightness of the waistband.
7. The wearable electric intelligent disabled-assisting exoskeleton device of claim 5, wherein: the two groups of driving connecting rod assemblies are respectively connected between the waist ring and the left half crotch ring and between the waist ring and the right half crotch ring, each group of driving connecting rod assemblies at least comprises six driving connecting rod assemblies, the two groups of driving connecting rod assemblies are annularly arranged around the waist ring, and the adjacent driving connecting rod assemblies are in V-shaped arrangement in pairs.
8. The wearable electric intelligent disabled-assisting exoskeleton device of claim 3, wherein: the back frame comprises a left shoulder frame and a right shoulder frame which are in an inverted U shape and a back plate connected between the back parts of the left shoulder frame and the right shoulder frame, wherein three groups of active actuators are arranged, and the three groups of active actuators are respectively connected between the left shoulder frame and the waist ring, between the right shoulder frame and the waist ring and between the back plate and the waist ring.
9. The wearable electric intelligent disabled-assisting exoskeleton device of claim 8, wherein: each group of active actuators comprises two active actuators, and the two active actuators are arranged in a V shape.
10. The wearable electric intelligent disabled-assisting exoskeleton device of claim 2, wherein: the driving assembly comprises a rotating wheel pair, a driving device and a rocker arm, the rotating wheel pair is arranged on the machine body in a rotating fit mode, the driving device drives the rotating wheel pair to rotate, the upper end of the action connecting rod is in eccentric rotating fit with the rotating wheel pair, two ends of the rocker arm assembly are respectively matched with the crotch ring and the upper end of the action connecting rod through rotating pairs, and the rotating pair formed by the rocker arm assembly and the action connecting rod is located above the rotating pair formed by the rotating wheel pair and the action connecting rod.
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| CN202110927126.3A CN113768756A (en) | 2021-08-12 | 2021-08-12 | Wearable electric intelligent exoskeleton device for helping disabled |
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| CN202110927126.3A CN113768756A (en) | 2021-08-12 | 2021-08-12 | Wearable electric intelligent exoskeleton device for helping disabled |
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| CN115847381A (en) * | 2023-02-16 | 2023-03-28 | 哈尔滨工业大学 | Configuration-changeable parallel lower limb wearing power assisting device |
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