CN103860358A - Thigh and shank device with knee joint parameter measurement suitable for exoskeleton auxiliary supporting robot - Google Patents

Abstract

Translated fromChinese

本发明公开了一种适用于外骨骼辅助支撑机器人的具有膝关节参数测量的大小腿装置，该装置采用液压缸驱动膝关节，提高了外骨骼辅助支撑机器人的响应速度和承载能力；腰部通过伸缩杆与大腿连接，小腿通过伸缩杆与足部连接。液压缸的一端通过支架、销轴和关节轴承与大腿相连，活塞杆端通过液压缸连接件与小腿相连，膝关节是大腿和小腿的连接部件，传感器用于测量膝关节角位移，实现外骨骼跟随人体膝关节的运动控制。本发明设计的机器人只有膝关节受控于液压缸，其余关节都是用于适应人体腿关节运动的要求，包括安装传感器的髋关节、踝关节和足底结构，还包括腰部的侧摆、大腿的球关节等。本发明机器人为模拟人体结构特点，适合人体穿戴，保持运动灵活、结构简单，能够帮助使用者支撑负载重量。

The invention discloses a large and small leg device with knee joint parameter measurement suitable for an exoskeleton auxiliary support robot. The device uses a hydraulic cylinder to drive the knee joint, which improves the response speed and bearing capacity of the exoskeleton auxiliary support robot; The rod is connected with the thigh, and the lower leg is connected with the foot through the telescopic rod. One end of the hydraulic cylinder is connected to the thigh through a bracket, pin shaft and joint bearing, and the piston rod end is connected to the lower leg through a hydraulic cylinder connector. The knee joint is the connecting part between the thigh and the lower leg. The sensor is used to measure the angular displacement of the knee joint to realize the exoskeleton. Follow the motion control of the human knee joint. In the robot designed by the present invention, only the knee joint is controlled by the hydraulic cylinder, and the rest of the joints are used to adapt to the requirements of human leg joint movement, including the hip joint, ankle joint and plantar structure where sensors are installed, as well as the side swing of the waist, thigh ball joints etc. The robot of the present invention simulates the structural characteristics of the human body, is suitable for wearing by the human body, maintains flexible movement, has a simple structure, and can help users support the load weight.

Description

A kind of thigh and calf device with knee joint parameter measurement that is applicable to ectoskeleton supplemental support robot

Technical field

The present invention's design belongs to service robot field, relates to supplemental support and the rehabilitation training of lower limb exoskeleton robot for human body lower limbs.

Background technology

The mankind's both legs provide heavy burden and shipping platform, and especially, under the environment that is not suitable for wheeled transportation, biped demonstrates very strong mobility.Heavy burden is one of the most general problem that will face of human lives.

For soldier, fireman and disaster relief team member, payload accounts for most of its TBW, is their duty-bound and bear that these load both cannot avoid.Carry overcharge and not only allow people feel tired, also have potential injury mentally and physically simultaneously.In order to alleviate this burden, lower limb supplemental support ectoskeleton plant equipment is arisen at the historic moment.

Militarily, numerous Advanced Equipments have promoted perception and the attack precision of soldier to battlefield, but carrying so many equipment often makes soldier dog-tired, is difficult to adhere to long-time autonomous operation.

On civilian, China forest, hill path, ladder road, the road surface in coastline and gully is a lot of, this road vehicles is difficult to normal operation, the goods and materials of many urgent needs can only lean on manpower transportation, and the mankind's muscle power cannot be compared with the bearing capacity of vehicle, China's 512 violent earthquakes just occur in this region with a varied topography, Sichuan, a lot of severely afflicated areas were located in dangerous situation at that time, the transportation of disaster relief supplies can only solve by manpower, if adopt lower limb supplemental support ectoskeleton plant equipment, can be by improving people's bearing capacity, promote that disaster relief supplies transport to and calamity after the speed of reconstruction.

China is stepping into aging, suffering from cardiovascular and cerebrovascular disease makes middle-older patient occur that the number of hemiplegia is on the increase, and because vehicle accident causes the number of nerve damage or limb injury also more and more, this class patient is except early stage operative treatment and necessary Drug therapy, and rehabilitation training correct, science is played very important effect for recovery and the raising of extremity motor function.And lower limb supplemental support ectoskeleton plant equipment also can become lower limb imbalance person's training aids and auxiliary walking device.

Summary of the invention

The object of this invention is to provide a kind of thigh and calf device with knee joint parameter measurement that is applicable to ectoskeleton supplemental support robot, guaranteeing the flexible of the position operations such as waist, shank, ankle and foot, while making people dress ectoskeleton supplemental support robot, motion is not interrupted, kinematic parameter when waist, shank, foot movement are provided simultaneously, is beneficial to the effective control to ectoskeleton supplemental support robot; The ectoskeleton supplemental support machine of the present invention's design is artificially simulated organization of human body feature, be applicable to human body and dress, be combined well with human body, move flexible, simple in structure, can help user load-supporting weight, be a kind of supplemental support equipment reliable, novel structure that uses.

For waist structure, after guaranteeing that people dresses, it is flexible that the waist of ectoskeleton supplemental support robot and hip joint move, when people is dressed, waist and hip joint are not interrupted, the requirement of simultaneous adaptation different human body to ectoskeleton supplemental support robot, need waist width to regulate, the length of thigh can regulate, and can also measure hip joint angular displacement.

For leg structure, after guaranteeing that people dresses, knee joint and people are synchronized with the movement, and knee joint adopts hydraulic-driven, has reduced knee joint driving element size, is conducive to the raising of robot overall performance.

For foot structure, guarantee the operation of ankle joint and foot flexibly, not interrupted after people is dressed, can measure the pressure in ankle joint angular displacement and vola simultaneously.

The present invention is a kind of thigh and calf device with knee joint parameter measurement that is applicable to ectoskeleton supplemental support robot, and this device adopts Driven by Hydraulic Cylinder knee joint, has improved response speed and the bearing capacity of ectoskeleton supplemental support robot; Waist is connected with thigh by expansion link, realize the adjusting of thigh length, meet the needs of different heights, one end of hydraulic cylinder is connected with thigh with oscillating bearing by support, bearing pin, tailpiece of the piston rod is connected with shank by pressure cylinder connecting component, realizes kneed driving, and knee joint is the link of thigh and shank, sensor is used for measuring knee angle displacement, realizes ectoskeleton and follow the motor control of human body knee joint.Shank is connected with foot by expansion link, to adjust shank length, meets differing heights people's needs.The robot of the present invention's design only has knee joint to be controlled by hydraulic cylinder, and all the other joints are all the requirements for adapting to human leg joint motions, comprise hip joint, ankle joint and the sole structure of sensor installation, also comprise side-sway, the ball-joint of thigh etc. of waist.Machine of the present invention is artificially simulated organization of human body feature, is applicable to human body and dresses, and keeps motion flexible, simple in structure, can help user load-supporting weight.

The advantage of ectoskeleton supplemental support of the present invention robot is:

1. ectoskeleton supplemental support machine of the present invention is artificially simulated the symmetrical structure of organization of human body feature, be applicable to human body and dress, be combined well with human body, move flexible, simple in structure, can help user load-supporting weight, be a kind of supplemental support equipment reliable, novel structure that uses.

2. the width adjusting of waist, due to people's individual variation, have fat or thin, height point, everyone waistline is different, in the time of ectoskeleton Robot Design, has designed the fine adjusting that realizes human body waist width of width adjusting apparatus.

3. the altitude mixture control of waist, the design of expansion link, for thigh length is regulated, because everyone thigh length is certain, after therefore this length of telescopic bar regulates, adopts the method being connected, and thigh length is fixed.

4. the bent plate of waist design and the revolute pair structure of thigh, the swing of simulation human hip, the swing angle that can measure in real time thigh by angular displacement sensor, thigh is provided with globe joint structure, swings for the omnirange of simulating human hip.

5. knee joint adopts Driven by Hydraulic Cylinder, to control kneed motion, realizes following that human body knee joint is moved, and by the detection of plantar pressure, realizes the description of human motion intention, is beneficial to the PREDICTIVE CONTROL to exoskeleton robot.Because knee joint adopts Driven by Hydraulic Cylinder, improve the bearing capacity of robot, for the research of exoskeleton robot lays the foundation.

6. the Hooke of ankle joint hinge structure, realizes the front and back of human body ankle and swings, and can measure in real time the swing angle of ankle by angular displacement sensor; The pressure gauge of sole: sole have can movable part before and after sole and shoe pad, form unique human foot model configuration, the movable part of sole is fixed on shoe pad, realize the pursuit movement of shoe pad, by 3 pressure transducers are set, realize human foot and press force measurement, realize the accurate judgement of human body walking intention, provide technical support for the control system of exoskeleton robot realizes.

Accompanying drawing explanation

Fig. 1 be of the present invention there is ectoskeleton supplemental support robot that joint parameter measures face structure chart.

Figure 1A is a visual angle structure chart of the ectoskeleton supplemental support robot with joint parameter measurement of the present invention.

Figure 1B is another visual angle structure chart of the ectoskeleton supplemental support robot with joint parameter measurement of the present invention.

Fig. 2 is the structure chart of the left and right lower limb assembly of the ectoskeleton supplemental support robot with joint parameter measurement of the present invention.

Fig. 2 A is the exploded view of the hydraulic-driven part in the lower limb assembly of left and right of the present invention.

Fig. 2 B is knee joint in the lower limb assembly of left and right of the present invention and the exploded view of thigh and calf.

Fig. 2 C is the structure chart of the left thigh expansion link in the left leg assembly of the present invention.

Fig. 2 D is the structure chart of the right thigh expansion link in the left leg assembly of the present invention.

Fig. 2 E is the structure chart of the left thigh in the left leg assembly of the present invention.

Fig. 2 F is another visual angle structure chart of the left thigh in the left leg assembly of the present invention.

Fig. 2 G is the structure chart of the right thigh in the left leg assembly of the present invention.

Fig. 2 H is another visual angle structure chart of the right thigh in the left leg assembly of the present invention.

Fig. 2 I is the structure chart of the left leg in the left leg assembly of the present invention.

Fig. 2 J is the structure chart of the right leg in the left leg assembly of the present invention.

Fig. 2 K is another visual angle structure chart of the right leg in the left leg assembly of the present invention.

Fig. 2 L is another visual angle structure chart of the left leg in the left leg assembly of the present invention.

Fig. 3 is the structure chart of the left and right foot component of the ectoskeleton supplemental support robot with joint parameter measurement of the present invention.

Fig. 3 A is the exploded view of the left foot component of the ectoskeleton supplemental support robot with joint parameter measurement of the present invention.

Fig. 3 B is the structure chart of the left ankle joint in the left foot component of the present invention.

Fig. 3 C is the exploded view of the left foot component of the ectoskeleton supplemental support robot with joint parameter measurement of the present invention.

Fig. 3 D is the structure chart of the right ankle joint in the right foot component of the present invention.

Fig. 4 is the structure chart of the lumbar device of the ectoskeleton supplemental support robot with joint parameter measurement of the present invention.

Fig. 4 A is the exploded view of the lumbar device of the ectoskeleton supplemental support robot with joint parameter measurement of the present invention.

1. lumbar device	The left regulating block of 1A.	1A1. joint	1A2.EA lug
				1A3.EB lug	1A4.EA lug grooves	The right regulating block of 1B.	1B1. joint
1B2.EC lug	1B3.ED lug	1B4.EB lug grooves	The left twisted plate of 1C.
				1C1.A through hole	1C2.EE lug	1C3.EF lug	1C4.EC lug grooves
1C5.EA dead eye	1C6.EB dead eye	The right twisted plate of 1D.	1D1.B through hole
				1D2.EG lug	1D3.EH lug	1D4.ED lug grooves	1D5.EC dead eye
1D6.EDdead eye	1E. bends and stretches bar in a left side	1E1.C through hole	1E2.C pin-and-hole
				1E3.C ball-and-socket	1F. bends and stretches bar in the right side	1F1.D through hole	1F2.D pin-and-hole
1F3.D ball-and-socket	1G.A fixture block	1H.B fixture block	1H1.H bearing blind hole
				1J.C fixture block	1K.D fixture block	1K1.K bearingblind hole	1L. left limit piece
The left button of 1M.	1N. right limit piece	The right button of 1P.	The left hip joint of 1Q.
				1Q1.E angular displacement sensor	1Q2.E sleeve	1Q3.Q angular contact ball bearing	1Q4. the 3rd rotating shaft
1Q5.R angular contact ball bearing	1Q6.G end cap	The right hip joint of 1R.	1R1.F angular displacement sensor
				1R2.F sleeve	1R3.S angular contact ball bearing	1R4. the 4th rotating shaft	1R5.T angular contact ball bearing
1R6.H end cap	1S. the first rotating shaft	1T. the second rotating shaft	1U.M angular contact ball bearing
				1V.N angular contact ball bearing	1W.O angular contact ball bearing	1Y.P angularcontact ball bearing	2.left leg assembly
2A. left thigh expansion link	2A1. left handed twist lid	2A2. ball pivot end	2A3.cylindrical end
				2B. left leg expansion link	2B1.AB throughhole	2C. left thigh	2C1.AA lug
2C2.AB lug	2C3. thigh blind hole	The lower contact of 2C4. thigh	2C5.AA through hole
				2C6. pin hole	2C7. supportingplate face	2D. left leg	2D1.AE lug
2D2.AF lug	2D3.AG lug	2D4.AH lug	2D5.AI lug
				2D6.AJ lug	2D7.A lug grooves	2D8.B lug grooves	2D9.A dead eye
2D10.B dead eye	2D11.AE through hole	2D12.AF through hole	2D13. shankblind hole
				2E. left socle	2E1. fixing head	2E2.AC lug	2E3.AD lug
2E4.AC through hole	2E5.AD through hole	2E6.C lug grooves	2F. upperleft bearing pin
				2G. lower-left bearing pin	2H.A angular displacement sensor	2J.A angular contact ball bearing	2K.B angular contact ball bearing
2L.C sleeve	The left knee axis of 2M.	2N.I bearing (ball)cover	3.right leg assembly
				3A. right thigh expansion link	The right torsion lid of 3A1.	3A2. ball pivot end	3A3.cylindrical end
3B. right leg expansion link	3B1.BB throughhole	3C. right thigh	3C1.BA lug
				3C2.BB lug	3C3. thigh blind hole	The lower contact of 3C4. thigh	3C5.BA through hole

3C6. pin hole	3C7. supportingplate face	3D. right leg	3D1.BE lug
				3D2.BF lug	3D3.BG lug	3D4.BH lug	3D5.BI lug
3D6.BJ lug	3D7.A lug grooves	3D8.B lug grooves	3D9.A dead eye
				3D10.B dead eye	3D11.BE through hole	3D12.BF through hole	?
3D13. shankblind hole	3E. right support	3E1. fixing head	3E2.BC lug
				3E3.BD lug	3E4.BC through hole	3E5.BD through hole	3E6.C lug grooves
3F. upperright bearing pin	3G. bottom right bearing pin	3H.B angular displacement sensor	3J.C angular contact ball bearing
				3K.D angular contact ball bearing	3L.D sleeve	The right knee axis of 3M.	3N.J bearing (ball) cover
4. left foot component	The left ankle joint of 4A.	4A1.C angular displacement sensor	4A2.A sleeve
				4A3.E angular contact ball bearing	4A4. the 5th rotating shaft	4A5. the 6th rotating shaft	4A6.F angular contact ball bearing
4A7.A end cap	4A8.B end cap	4A9.G angular contact ball bearing	4A10.H angular contact ball bearing
				4A11.C end cap	4B. upper left bearing	4B1.CA lug	4B2.CB lug
4B3.CA lug grooves	4B4.CA dead eye	4B5.CB dead eye	4B6. pin-and-hole
				4B7.CA through hole	The left sufficient pin of 4B8.	4C. lower-left bearing	4C1.CC lug
4C2.CD lug	4C3.CB lug grooves	4C4.CC dead eye	4C5.CD dead eye
				4C6. connecting plate	The left front sole of 4D.	The left back sole of 4E.	The left sole of 4F.
4F1.A pressure transducer	4F2.B pressure transducer	4F3.C pressure transducer	4F4.A countersunk head blind hole
				4F5.B countersunk head blind hole	4F6.C countersunk headblind hole	5. right foot component	The right ankle joint of 5A.
5A1.D angular displacement sensor	5A2.B sleeve	5A3.I angular contact ball bearing	5A4. the 7th rotating shaft
				5A5. the 8th rotating shaft	5A6.J angular contact ball bearing	5A7.D end cap	5A8.E end cap
5A9.K angular contact ball bearing	5A10.L angular contact ball bearing	5A11.F end cap	5B. upper right bearing
				5B1.DA lug	5B2.DB lug	5B3.DA lug grooves	5B4.DA dead eye
5B5.DB dead eye	5B6. pin-and-hole	5B7.DA through hole	The right sufficient pin of 5B8.
				5C. bottom right bearing	5C1.DC lug	5C2.DD lug	5C3.DB lug grooves
5C4.DC dead eye	5C5.DD dead eye	5C6. connecting plate	The right front sole of 5D.
				The right back sole of 5E.	The right sole of 5F.	5F1.D pressure transducer	5F2.E pressure transducer
5F3.F pressure transducer	5F4.D countersunk head blind hole	5F5.E countersunk head blind hole	5F6.F countersunk headblind hole
				6. lefthydraulic cylinder	6A.upper piston rod	6B. lower piston rod	?
7. righthydraulic cylinder	7A.upper piston rod	7B. lower piston rod	?

The specific embodiment

Below in conjunction with accompanying drawing, the present invention is described in further detail.

The present invention is a kind of ectoskeleton supplemental support robot that joint parameter is measured that has, and this ectoskeleton supplemental support robot includeslumbar device 1, thigh and calf part device and foot device.Described thigh and calf part device comprisesleft leg assembly 2 andright leg assembly 3; Onleft leg assembly 2, lefthydraulic cylinder 6 is installed, righthydraulic cylinder 7 is installed on right leg assembly 3.Described foot device includes left foot component 4 and right foot component 5.Waist, shank and foot feature that ectoskeleton supplemental support machine of the present invention is artificially simulated human body design.

In the present invention, inlumbar device 1, be designed with left and right hip joint.In leftleg assembly 2, be designed with left knee joint, inright leg assembly 3, be designed with right knee joint.In left foot component 4, be designed with left ankle joint, inright foot component 5, be designed with right ankle joint.

In the present invention, the outer ring, the inner ring that are installed as conventional application bearing of axle and bearing, bearing and dead eye fix.

Lumbar device 1

Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 4, Fig. 4 A,lumbar device 1 includes thatbar 1E is bent and stretched onleft regulating block 1A, right regulatingblock 1B, lefttwisted plate 1C, righttwisted plate 1D, a left side,bar 1F, Afixture block 1G,B fixture block 1H,C fixture block 1J,D fixture block 1K, leftlimit piece 1L, the left 1M of button,right limit piece 1N, the right 1P of button, left hip joint 1Q,right hip joint 1R, the firstrotating shaft 1S, the second rotating shaft 1T, M angular contact ball bearing 1U, N angular contact ball bearing 1V, O angular contact ball bearing 1W, P angular contact ball bearing 1Y are bent and stretched in the right side.

Wherein, left hip joint 1Q includes E angular displacement sensor 1Q1, E sleeve 1Q2, Q angular contact ball bearing 1Q3, the 3rd rotating shaft 1Q4, R angular contact ball bearing 1Q5, G end cap 1Q6; The 3rd rotating shaft 1Q4 is placed in the EC lug grooves 1C4 of left twisted plate 1C, and on the 3rd rotating shaft 1Q4, be socketed with a left side and bend and stretch bar 1E, the 3rd rotating shaft 1Q4 and a left side are bent and stretched bar 1E and are adopted pin fixed installation, in the C pin-and-hole 1E2 of bar 1E is bent and stretched on a left side, pin is installed, this pin, along reaching the blind hole on the 3rd rotating shaft 1Q4, bends and stretches the fixing of bar 1E thereby realize the 3rd rotating shaft 1Q4 with a left side.One end of the 3rd rotating shaft 1Q4 is socketed with Q angular contact ball bearing 1Q3, and the other end of the 3rd rotating shaft 1Q4 is socketed with R angular contact ball bearing 1Q5.Q angular contact ball bearing 1Q3 is arranged in the EA dead eye 1C5 of left twisted plate 1C, and E sleeve 1Q2 is installed on the outer panel face of EE lug 1C2.R angular contact ball bearing 1Q5 is arranged in the EB dead eye 1C6 of left twisted plate 1C, and G end cap 1Q6 is installed on the outer panel face of EF lug 1C3.It is upper that one end of E angular displacement sensor 1Q1 is arranged on the 3rd rotating shaft 1Q4, in the time of the 3rd rotating shaft 1Q4 motion, measures the kinematic parameter of left half hip joint by E angular displacement sensor 1Q1.

Wherein, right hip joint 1R includes F angular displacement sensor 1R1, F sleeve 1R2, S angular contact ball bearing 1R3, the 4th rotating shaft 1R4, T angular contact ball bearing 1R5, H end cap 1R6; The 4th rotating shaft 1R4 is placed in the ED lug grooves 1D4 of right twisted plate 1D, and on the 4th rotating shaft 1R4, be socketed with the right side and bend and stretch bar 1F, the 4th rotating shaft 1R4 and the right side are bent and stretched bar 1F and are adopted pin fixed installation, in the D pin-and-hole 1F2 of bar 1F is bent and stretched on the right side, pin is installed, this pin, along reaching the blind hole on the 4th rotating shaft 1R4, bends and stretches the fixing of bar 1F thereby realize the 4th rotating shaft 1R4 with the right side.One end of the 4th rotating shaft 1R4 is socketed with S angular contact ball bearing 1R3, and the other end of the 4th rotating shaft 1R4 is socketed with T angular contact ball bearing 1R5.S angular contact ball bearing 1R3 is arranged in the EC dead eye 1D5 of right twisted plate 1D, and F sleeve 1R2 is installed on the outer panel face of EG lug 1D2.T angular contact ball bearing 1R5 is arranged in the ED dead eye 1D6 of right twisted plate 1D, and H end cap 1R6 is installed on the outer panel face of EH lug 1D3.It is upper that one end of F angular displacement sensor 1R1 is arranged on the 4th rotating shaft 1R4, in the time of the 4th rotating shaft 1R4 motion, measures the kinematic parameter of right half hip joint by F angular displacement sensor 1R1.

Shown in Fig. 4 A, left regulatingblock 1A is provided with joint 1A1, EA lug 1A2, EB lug 1A3, between EA lug 1A2 and EB lug 1A3, is EA lug grooves 1A4.Joint 1A1 is arranged between Afixture block 1G andB fixture block 1H, and fixes with Afixture block 1G andB fixture block 1H respectively.EA lug grooves 1A4 is for inserting the ED lug 1B3 ofright regulating block 1B.

Shown in Fig. 4 A, right regulatingblock 1B is provided with joint 1B1, EC lug 1B2, ED lug 1B3, between EC lug 1B2 and ED lug 1B3, is EB lug grooves 1B4.Joint 1B1 is arranged betweenC fixture block 1J andD fixture block 1K, and fixes withC fixture block 1J andD fixture block 1K respectively.EB lug grooves 1B4 is for inserting the EA lug 1A2 of left regulating block 1A.Left regulating block 1A docks fixing with the lug onright regulating block 1B, can realize the adjusting of length between two regulating blocks by the hole on lug.

Shown in Fig. 4 A, one end of lefttwisted plate 1C is provided with A through hole 1C1, and this A through hole 1C1 is used for placing the firstrotating shaft 1S; The other end of lefttwisted plate 1C is provided with EE lug 1C2, EF lug 1C3, between EE lug 1C2 and EF lug 1C3, is EC lug grooves 1C4, and EE lug 1C2 is provided with EA dead eye 1C5, and EF lug 1C3 is provided with EB dead eye 1C6.

The upper end that EC lug grooves 1C4 bends and stretchesbar 1E for placing a left side, the lower end that bar 1E is bent and stretched on a left side is provided with C ball-and-socket 1E3, this C ball-and-socket 1E3 is for placing the ball pivot end 2A2 of leftthigh expansion link 2A, when inserting a left side, bends and stretches after the C ball-and-socket 1E3 ofbar 1E the ball pivot end 2A2 of leftthigh expansion link 2A, then bend and stretch the lower end ofbar 1E on a left side and install left handed twist lid 2A1, realize and left bend and stretch being connected ofbar 1E and leftthigh expansion link 2A by left handed twist lid 2A1, and then realize being connected between left half waist and left thigh.

EA dead eye 1C5 is used for placing Q angular contact ball bearing 1Q3, and the outer ring of Q angular contact ball bearing 1Q3 and EA dead eye 1C5 tight fit, the inner ring of Q angular contact ball bearing 1Q3 is socketed in one end of the 3rd rotating shaft 1Q4, the upper end that on the 3rd rotating shaft 1Q4, a left side is installed and bends and stretchesbar 1E.

EB dead eye 1C6 is used for placing R angular contact ball bearing 1Q5, and the outer ring of R angular contact ball bearing 1Q5 and EB dead eye 1C6 tight fit, the inner ring of R angular contact ball bearing 1Q5 is socketed in the other end of the 3rd rotating shaft 1Q4, the upper end that on the 3rd rotating shaft 1Q4, a left side is installed and bends and stretchesbar 1E.

Shown in Fig. 4 A, one end of righttwisted plate 1D is provided with B through hole 1D1, and this B through hole 1D1 is used for placing the second rotating shaft 1T; The other end of righttwisted plate 1D is provided with EG lug 1D2, EH lug 1D3, between EG lug 1D2 and EH lug 1D3, is ED lug grooves 1D4, and EG lug 1D2 is provided with EC dead eye 1D5, and EH lug 1D3 is provided with ED dead eye 1D6.

The upper end that ED lug grooves 1D4 bends and stretchesbar 1F for placing the right side, the lower end that bar 1F is bent and stretched on the right side is provided with D ball-and-socket 1F3, this D ball-and-socket 1F3 is for placing the ball pivot end 3A2 of rightthigh expansion link 3A, when inserting the right side, bends and stretches after the D ball-and-socket 1D3 ofbar 1F the ball pivot end 3A2 of rightthigh expansion link 3A, then bend and stretch the lower end ofbar 1F on the right side upper right torsion lid 3A1 is installed, realize and rightly bend and stretch being connected ofbar 1F and rightthigh expansion link 3A by right torsion lid 3A1, and then realize being connected between right half waist and right thigh.

EC dead eye 1D5 is used for placing S angular contact ball bearing 1R3, and the outer ring of S angular contact ball bearing 1R3 and EC dead eye 1D5 tight fit, the inner ring of S angular contact ball bearing 1R3 is socketed in one end of the 4th rotating shaft 1R4, the upper end that on the 4th rotating shaft 1R4, the right side is installed and bends and stretchesbar 1F.

ED dead eye 1D6 is used for placing T angular contact ball bearing 1R5, and the outer ring of T angular contact ball bearing 1R5 and ED dead eye 1D6 tight fit, the inner ring of T angular contact ball bearing 1R5 is socketed in the other end of the 4th rotating shaft 1R4, the upper end that on the 4th rotating shaft 1R4, the right side is installed and bends and stretchesbar 1F.

Shown in Fig. 4 A, Afixture block 1G,B fixture block 1H,C fixture block 1J are identical with the structure ofD fixture block 1K.

Afixture block 1G is provided with bearing blind hole, and M angular contact ball bearing 1U is installed in this bearing blind hole.On the outer panel face of Afixture block 1G, the left 1M of button is installed, by fasten rope onleft button 1M andright button 1P, the convenientlumbar device 1 by the present invention's design is bundled in the waist place of human body.

B fixture block 1H is provided with H bearing blind hole 1H1, in this H bearing blind hole 1H1, N angular contact ball bearing 1V is installed.

C fixture block 1J is provided with bearing blind hole, and O angular contact ball bearing 1W is installed in this bearing blind hole.On the outer panel face ofC fixture block 1J, the right 1P of button is installed.

D fixture block 1K is provided with K bearing blind hole 1K1, in this K bearing blind hole 1K1, P angular contact ball bearing 1Y is installed.

One end of the firstrotating shaft 1S is socketed with M angular contact ball bearing 1U, and the other end of the firstrotating shaft 1S is socketed with N angular contact ball bearing 1V.

One end of the second rotating shaft 1T is socketed with O angular contact ball bearing 1W, and the other end of the second rotating shaft 1T is socketed with P angular contact ball bearing 1Y.

In the present invention, Afixture block 1G andB fixture block 1H are staggered relatively, and in upper end clamping, leftlimit piece 1L are installed.C fixture block 1J andD fixture block 1K are staggered relatively, and in upper end clamping,right limit piece 1N are installed.

In the present invention, button design in the left and right of waist structure guarantees that ectoskeleton waist and people dress.Regulating block coordinates with fixture block, axle and bearing, makes hip joint in waist structure flexible operation on the length of waist, width, and while making people dress exoskeleton robot, waist and hip joint are not interrupted, the requirement of simultaneous adaptation different human body to exoskeleton robot.Need ectoskeletal waist width to regulate, the length of thigh can regulate, and a kind of sensor of measuring hip joint angular displacement also will be provided, and is beneficial to effective control of exoskeleton robot.The feature of waist design of the present invention is for simulating human body waist completely, after human body is dressed, be combined well with human body, move flexible, simple in structure, simulating waist and hip joint motion completely, is a kind of use Novel waist and hip joint simulation and angle displacement measuring device reliable, novel structure.

Waist structure of the present invention is symmetrical structure, design the left and right adjusting piece of waist width adjusting, according to the various combination of 3 groups of apertures that arrange in the adjustable block of two of left and right, realize the adjusting to waist waistline width, by two pairs of clamping plate, two rotating shafts, realize being connected of regulating block and waist twisted plate, realize the degree of freedom that swings of waist, twisted plate is realized the swing of thigh by the connection of hip joint, realize the measurement of thigh amplitude of fluctuation by E, F angular displacement sensor, for the coordination control of robot.The spherical hinge structure that is connected to that bends and stretches bar and thigh expansion link, makes the swing of thigh any direction more flexible.Waist structure of the present invention, waist is realized waist waistline width adjusting, thigh and is realized by expansion link the adjusting of thigh length by regulating block, and the scope of application of robot improves greatly like this.The rotational freedom of clamping plate and waist twisted plate is realized the side-sway degree of freedom of waist, and the rotation of thigh expansion link and twisted plate realizes the swing degree of freedom of robot.Exoskeleton robot has been realized the adaptation completely to human hip and waist like this.Measure by the pendulum angle to thigh, the control of robot has been brought to convenience.

(A) width adjusting device of waist, due to people's individual variation, have fat or thin, height point, everyone waistline is different, in the time of ectoskeleton Robot Design, design the fine adjusting that realizes human body waist width of width adjusting apparatus (left and right adjusting piece).

(B) arrangement for adjusting height of waist: the design of thigh expansion link, for thigh length is regulated, because everyone thigh length is certain, after therefore this length of telescopic bar regulates, adopt the method being connected, thigh length is fixed.

(C) measurement of hip joint: bending and stretching bar and thigh expansion link is revolute pair structure, the swing of simulation human hip, the swing angle that can measure in real time thigh by angular displacement sensor, thigh is provided with globe joint structure, swings for the omnirange of simulating human hip.

Thelumbar device 1 of the present invention's design has formed motion simulation and measurement, the width of waist and the adjusting of oscillation adjustment and thigh length of hip joint, has expanded the adaptability of exoskeleton robot.

Left leg assembly 2

Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 1 C, Fig. 2,left leg assembly 2 includes leftthigh expansion link 2A, leftleg expansion link 2B,left thigh 2C,left leg 2D, leftsocle 2E, upperleft bearing pin 2F, lower-leftbearing pin 2G and left knee joint, and described left knee joint is made up of Aangular displacement sensor 2H, A angular contact ball bearing 2J, B angularcontact ball bearing 2K,C sleeve 2L,left knee axis 2M and I bearing (ball)cover 2N.

Aangular displacement sensor 2H is arranged inC sleeve 2L, and the sensitivity end of Aangular displacement sensor 2H inserts inleft knee axis 2M; One end ofleft knee axis 2M is socketed with A angular contact ball bearing 2J, and the other end ofleft knee axis 2M is socketed with B angularcontact ball bearing 2K;Left knee axis 2M is arranged in the AA through hole 2C5 of lower contact 2C4 ofleft thigh 2C; B angularcontact ball bearing 2K is arranged in the A dead eye 2D9 on AE lug 2D1, and installs I bearing (ball)cover 2N at the outer panel face of AE lug 2D1; A angular contact ball bearing 2J is arranged in the B dead eye 2D10 on AF lug 2D2, in the B ofleft leg 2D dead eye 2D10, first install after A angular contact ball bearing 2J, again one end ofC sleeve 2L is arranged in B dead eye 2D10, andC sleeve 2L is fixed on the outer panel face of AF lug 2D2,C sleeve 2L is used for holding out against A angular contact ball bearing 2J, simultaneously also for Aangular displacement sensor 2H is installed.

Shown in Figure 2, one end of leftthigh expansion link 2A is ball pivot 2A1, after the left side that ball pivot 2A1 insertswaist feature 1 is bent and stretched in the ball-and-socket ofbar 1E, tightens by left handed twist lid 2A1; The other end of leftthigh expansion link 2A is cylinder 2A1, and cylinder 2A1 inserts in the thigh blind hole 2C3 of left thigh 2C.Under the drive of lefthydraulic cylinder 6, the cylindrical end of leftthigh expansion link 2A moves in thigh blind hole 2C3.The lower end of leftleg expansion link 2B is provided with AB through hole 2B1, and this AB through hole 2B1 is for left sufficient pin 4B8(as shown in Figure 3) pass; The upper end of leftleg expansion link 2B is inserted in the shank blind hole 2D13 ofleft leg 2D lower end.

Shown in Fig. 2 A, the upper end ofleft thigh 2C is provided with AA lug 2C1, AB lug 2C1, thigh blind hole 2C3; This thigh blind hole 2C3 is for placing the cylinder 2A1 of leftthigh expansion link 2A, and by placing screw in the hole on AA lug 2C1, AB lug 2C1, this screw coordinates with nut, realizes spacing the cylinder 2A1 of leftthigh expansion link 2A in thigh blind hole 2C3.AA lug 2C1 and AB lug 2C1 realize the function of clamping plate.The fixing head 2E1 ofleft socle 2E is installed on the supporting plate face 2C7 relative with AA lug 2C1, AB lug 2C1.The lower end ofleft thigh 2C is provided with thigh lower contact 2C4, the end of thigh lower contact 2C4 is provided with AA through hole 2C5 and pin hole 2C6, AA through hole 2C5 passes forleft knee axis 2M, pin hole 2C6 is interior for placing pin, this pin is used for holding out againstleft knee axis 2M, and leftknee axis 2M is not moved in AA through hole 2C5.

Shown in Fig. 2 B, leftsocle 2E is provided with fixing head 2E1, AC lug 2E2, AD lug 2E3, AC lug 2E2 is provided with AC through hole 2E4, AD lug 2E3 is provided with AD through hole 2E5, between AC lug 2E2 and AD lug 2E3, be C lug grooves 2E6, C lug grooves 2E6 is for placing theupper piston rod 6A of lefthydraulic cylinder 6, and one end of upperleft bearing pin 2F connects a nut after passing in turn the through hole on AD through hole 2E5, theupper piston rod 6A on AD lug 2E3, the AC through hole 2E4 on AC lug 2E2.In the present invention, realize the installation of theupper piston rod 6A ofleft thigh 2C upper end and lefthydraulic cylinder 6 byleft socle 2E.

Shown in Fig. 2, Fig. 2 C, the end, lower end ofleft leg 2D is provided with AI lug 2D5, AJ lug 2D6, shank blind hole 2D13, the upper end of this shank blind hole 2D13 for placing leftleg expansion link 2B, and by placing screw in the hole on AI lug 2D5, AJ lug 2D6, this screw coordinates with nut, realizes spacing the upper end of leftleg expansion link 2B in shank blind hole 2D13.AI lug 2D5 and AJ lug 2D6 realize the function of clamping plate.Left leg 2D is provided with AE lug 2D1, AF lug 2D2, AG lug 2D3, AH lug 2D4.

Between AE lug 2D1 and AF lug 2D2, be A lug grooves 2D7, this A lug grooves 2D7 is for placing the lower contact 2C4 ofleft thigh 2C; AE lug 2D1 is provided with A dead eye 2D9, and this A dead eye 2D9 is used for placing B angularcontact ball bearing 2K; AF lug 2D2 is provided with B dead eye 2D10, and this B dead eye 2D10 is used for placing A angularcontact ball bearing 2J.

Between AG lug 2D3 and AH lug 2D4, be B lug grooves 2D8, AG lug 2D3 is provided with AE through hole 2D11, and AH lug 2D4 is provided with AF through hole 2D12; This B lug grooves 2D8, for placing thelower piston rod 6B of lefthydraulic cylinder 6, connects a nut after the through hole of one end of lower-leftbearing pin 2G on AE through hole 2D11,lower piston rod 6B through on AG lug 2D3, the AF through hole 2D12 on AH lug 2D4.In the present invention, realize the installation oflower piston rod 6B and theleft leg 2D of lefthydraulic cylinder 6 by lower-leftbearing pin 2G.

Right leg assembly 3

Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 1 C, Fig. 3,right leg assembly 3 includes rightthigh expansion link 3A, rightleg expansion link 3B,right thigh 3C,right leg 3D,right support 3E, upperright bearing pin 3F, bottom right bearingpin 3G and right knee joint, and described right knee joint is made up of Bangular displacement sensor 3H, C angular contact ball bearing 3J, D angularcontact ball bearing 3K,D sleeve 3L,right knee axis 3M and J bearing (ball)cover 3N.

Bangular displacement sensor 3H is arranged inD sleeve 3L, and the sensitivity end of Bangular displacement sensor 3H inserts inright knee axis 3M; One end ofright knee axis 3M is socketed with C angular contact ball bearing 3J, and the other end ofright knee axis 3M is socketed with D angularcontact ball bearing 3K;Right knee axis 3M is arranged in the BA through hole 3C5 of lower contact 3C4 ofright thigh 3C; D angularcontact ball bearing 3K is arranged in the A dead eye 3D9 on BE lug 3D1, and installs H bearing (ball)cover 3N at the outer panel face of BE lug 3D1; C angular contact ball bearing 3J is arranged in the B dead eye 3D10 on BF lug 3D2, in the B ofright leg 3D dead eye 3D10, first install after C angular contact ball bearing 3J, again one end ofD sleeve 3L is arranged in B dead eye 3D10, andD sleeve 3L is fixed on the outer panel face of BF lug 3D2,D sleeve 3L is used for holding out against C angular contact ball bearing 3J, simultaneously also for Bangular displacement sensor 3H is installed.

Shown in Figure 3, one end of rightthigh expansion link 3A is ball pivot 3A1, after the right side that ball pivot 3A1 insertswaist feature 1 is bent and stretched in the ball-and-socket ofbar 1F, tightens by right torsion lid 3A1; The other end of rightthigh expansion link 3A is cylinder 3A1, and cylinder 3A1 inserts in the thigh blind hole 3C3 of right thigh 3C.Under the drive of righthydraulic cylinder 6, the cylindrical end of rightthigh expansion link 3A moves in thigh blind hole 3C3.The lower end of rightleg expansion link 3B is provided with BB through hole 3B1, and this BB through hole 3B1 is for right sufficient pin 5B8(as shown in Figure 3) pass; The upper end of rightleg expansion link 3B is inserted in the shank blind hole 3D13 ofright leg 3D lower end.

Shown in Fig. 3 A, the upper end ofright thigh 3C is provided with BA lug 3C1, BB lug 3C1, thigh blind hole 3C3; This thigh blind hole 3C3 is for placing the cylinder 3A1 of rightthigh expansion link 3A, and by placing screw in the hole on BA lug 3C1, BB lug 3C1, this screw coordinates with nut, realizes spacing the cylinder 3A1 of rightthigh expansion link 3A in thigh blind hole 3C3.BA lug 3C1 and BB lug 3C1 realize the function of clamping plate.The fixing head 3E1 ofright support 3E is installed on the supporting plate face 3C7 relative with BA lug 3C1, BB lug 3C1.The lower end ofright thigh 3C is provided with thigh lower contact 3C4, the end of thigh lower contact 3C4 is provided with BA through hole 3C5 and pin hole 3C6, BA through hole 3C5 passes forright knee axis 3M, pin hole 3C6 is interior for placing pin, this pin is used for holding out againstright knee axis 3M, andright knee axis 3M is not moved in BA through hole 3C5.

Shown in Fig. 3 B,right support 3E is provided with fixing head 3E1, BC lug 3E2, BD lug 3E3, BC lug 3E2 is provided with BC through hole 3E4, BD lug 3E3 is provided with BD through hole 3E5, between BC lug 3E2 and BD lug 3E3, be C lug grooves 3E6, C lug grooves 3E6 is for placing theupper piston rod 6A of righthydraulic cylinder 6, and one end of upperright bearing pin 3F connects a nut after passing in turn the through hole on BD through hole 2E5, theupper piston rod 6A on BD lug 3E3, the BC through hole 3E4 on BC lug 2E2.In the present invention, realize the installation of theupper piston rod 6A ofright thigh 3C upper end and righthydraulic cylinder 6 byright support 3E.

Shown in Fig. 3, Fig. 3 C, the end, lower end ofright leg 3D is provided with BI lug 3D5, BJ lug 3D6, shank blind hole 3D13, the upper end of this shank blind hole 3D13 for placing rightleg expansion link 3B, and by placing screw in the hole on BI lug 3D5, BJ lug 3D6, this screw coordinates with nut, realizes spacing the upper end of rightleg expansion link 3B in shank blind hole 3D13.BI lug 3D5 and BJ lug 3D6 realize the function of clamping plate.Right leg 3D is provided with BE lug 3D1, BF lug 3D2, BG lug 3D3, BH lug 3D4.

Between BE lug 3D1 and BF lug 3D2, be A lug grooves 3D7, this A lug grooves 3D7 is for placing the lower contact 3C4 ofright thigh 3C; BE lug 3D1 is provided with A dead eye 3D9, and this A dead eye 3D9 is used for placing D angularcontact ball bearing 3K; BF lug 3D2 is provided with B dead eye 3D10, and this B dead eye 3D10 is used for placing C angularcontact ball bearing 3J.

Between BG lug 3D3 and BH lug 3D4, be B lug grooves 3D8, BG lug 3D3 is provided with BE through hole 3D11, and BH lug 3D4 is provided with BF through hole 3D12; This B lug grooves 3D8, for placing thelower piston rod 6B of righthydraulic cylinder 6, connects a nut after the through hole of one end of bottomright bearing pin 3G on BE through hole 3D11,lower piston rod 6B through on BG lug 3D3, the BF through hole 3D12 on BH lug 3D4.In the present invention, realize the installation oflower piston rod 6B and theright leg 3D of righthydraulic cylinder 6 by bottom right bearingpin 3G.

In the present invention,left leg assembly 2 adopts Driven by Hydraulic Cylinder with the knee joint inright leg assembly 3, to control kneed motion, realize following human body knee joint motion, detection by left foot component 4 with the plantar pressure ofright foot component 5, realize the description of human motion intention, be beneficial to the PREDICTIVE CONTROL to robot motion.Because knee joint adopts Driven by Hydraulic Cylinder, improve the bearing capacity of robot.

In the present invention, the knee joint of robot and people's knee joint are synchronized with the movement, and adopt hydraulic-driven, have reduced the size of knee joint driving element, and this is conducive to the raising of robot overall performance, and use reliable.

A distinguishing feature of knee design of the present invention adopts hydraulic cylinder (left hydraulic cylinder 6, right hydraulic cylinder 7) to drive exactly, has greatly improved response speed and the bearing capacity of ectoskeleton supplemental support robot.Leg assembly is connected with the bar that bends and stretches of lumbar device by thigh expansion link (left thigh expansion link 2A, right thigh expansion link 3A), realize the adjusting of thigh length, meet the needs of different heights, the upper piston rod end of hydraulic cylinder is connected with thigh upper end by support, bearing pin, the lower piston rod end of hydraulic cylinder is connected with shank by bearing pin, realizes kneed driving.Knee joint is the link of thigh and shank, and angular displacement sensor (A angular displacement sensor 2H, B angular displacement sensor 3H) is wherein for measuring knee angle displacement, realizes ectoskeleton supplemental support robot and follow the motor control of human body knee joint.Shank is connected by the sufficient pin on the upper bracket of shank expansion link and foot component, to adjust shank length, meets differing heights people's needs.Ectoskeleton supplemental support robot only has knee joint to be controlled by hydraulic cylinder, and all the other joints are all the requirements for adapting to human leg joint motions, comprises hip joint, ankle joint and sole structure, also comprises side-sway, the ball-joint of thigh etc. of waist.Motor fitness and joint angle that the ectoskeleton supplemental support robot of the present invention's design has realized human body lower limbs detect.

Left foot component 4

Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 3, Fig. 3 A, Fig. 3 B, left foot component 4 includes left ankle joint 4A, upper left bearing 4B, lower-leftbearing 4C, left front sole 4D, left back sole 4E and left sole 4F.

Shown in Figure 4, upper left bearing 4B is provided with CA lug 4B1, CB lug 4B2, pin-and-hole 4B6, CA through hole 4B7, CA lug 4B1 is provided with CA dead eye 4B4, CB lug 4B2 is provided with CB dead eye 4B5, between CA lug 4B1 and CB lug 4B2, be CA lug grooves 4B3, described CA lug grooves 4B3 is interior for placing the 5th rotating shaft 4A4 of left ankle joint 4A.

Pin-and-hole 4B6 is used for placing left sufficient pin 4B8, and one end of this left sufficient pin 4B8 is in turn through the AB through hole 2B1 of pin-and-hole 4B6, leftleg expansion link 2B, another pin-and-hole corresponding with pin-and-hole 4B6.Left sufficient pin 4B8 is for realizing being connected of left foot component 4 andleft leg 2.

The lower end of CA through hole 4B7 for placing leftleg expansion link 2B.

CA dead eye 4B4 is for installing the E angular contact ball bearing 4A3 of left ankle joint 4A.

CB dead eye 4B5 is for installing the F angular contact ball bearing 4A6 of left ankle joint 4A.

Shown in Figure 4, lower-leftbearing 4C is provided with CC lug 4C1, CD lug 4C2, connecting plate 4C6, CC lug 4C1 is provided with CC dead eye 4C4, CD lug 4C2 is provided with CD dead eye 4C5, between CC lug 4C1 and CD lug 4C2, be CB lug grooves 4C3, described CB lug grooves 4C3 is interior for placing the 6th rotating shaft 4A5 of left ankle joint 4A.

Shown in Figure 4, left sole 4F comprises footwear joint 4F7 and left foot plate 4F8, and the fixing head 4C6 of lower-leftbearing 4C is installed on footwear joint 4F7, and left front sole 4D, left back sole 4E are installed on left foot plate 4F8; Footwear joint 4F7 is provided with A countersunk head blind hole 4F4, and this A countersunk head blind hole 4F4 is for A pressure transducer 4F1; Left foot plate 4F8 is provided with B countersunk head blind hole 4F5, C countersunk head blind hole 4F6, and B countersunk head blind hole 4F5 is for B pressure transducer 4F2; C countersunk head blind hole 4F6 is for C pressure transducer 4F3.

Shown in Fig. 4, Fig. 4 A, left ankle joint 4A includes C angular displacement sensor 4A1, A sleeve 4A2, E angular contact ball bearing 4A3, the 5th rotating shaft 4A4, the 6th rotating shaft 4A5, F angular contact ball bearing 4A6, A end cap 4A7, B end cap 4A8, G angular contact ball bearing 4A9, H angular contact ball bearing 4A10 and C end cap 4A11.C angular displacement sensor 4A1 is arranged in A sleeve 4A2, and in the sensitivity end of C angular displacement sensor 4A1 insertion the 6th rotating shaft 4A5, A sleeve 4A2 is fixed on the outer panel face of CA lug 4B1 of upperleft bearing 4B.

The 5th rotating shaft 4A4 is placed in the CB lug grooves 4C3 between CC lug 4C1 and the CD lug 4C2 of lower-left bearing 4C.One end of the 5th rotating shaft 4A4 is socketed with G angular contact ball bearing 4A9, and the other end of the 5th rotating shaft 4A4 is socketed with H angular contact ball bearing 4A10.G angular contact ball bearing 4A9 is arranged in the CC dead eye 4C4 of CC lug 4C1 of lower-leftbearing 4C, and in the outside of CC lug 4C1, B end cap 4A8 is installed.H angular contact ball bearing 4A10 is arranged in the CD dead eye 4C5 of CD lug 4C2 of lower-leftbearing 4C, and in the outside of CD lug 4C2, C end cap 4A11 is installed.

The 6th rotating shaft 4A5 is placed in the CA lug grooves 4B3 between CA lug 4B1 and the CB lug 4B2 of upper left bearing 4B.One end of the 6th rotating shaft 4A5 is socketed with E angular contact ball bearing 4A3, and the other end of the 6th rotating shaft 4A5 is socketed with F angular contact ball bearing 4A6.E angular contact ball bearing 4A3 is arranged in the CA dead eye 4B4 of CA lug 4B1 of upper left bearing 4B.F angular contact ball bearing 4A6 is arranged in the CB dead eye 4B5 of CB lug 4B2 of upperleft bearing 4B, and in the outside of CB lug 4B2, A end cap 4A7 is installed.

Right foot component 5

Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 3, Fig. 3 C, Fig. 3 D,right foot component 5 includes right ankle joint 5A, upperright bearing 5B, bottom right bearing 5C, right front sole 5D, right back sole 5E and right sole 5F.

Shown in Fig. 3 C, upperright bearing 5B is provided with DA lug 5B1, DB lug 5B2, pin-and-hole 5B6, DA through hole 5B7, DA lug 5B1 is provided with DA dead eye 5B4, DB lug 5B2 is provided with DB dead eye 5B5, between DA lug 5B1 and DB lug 5B2, be DA lug grooves 5B3, described DA lug grooves 5B3 is interior for placing the 7th rotating shaft 5A4 of right ankle joint 5A.

Pin-and-hole 5B6 is used for placing right sufficient pin 5B8, and one end of this right sufficient pin 5B8 is in turn through the BB through hole 3B1 of pin-and-hole 5B6, rightleg expansion link 3B, another pin-and-hole corresponding with pin-and-hole 5B6.Right sufficient pin 5B8 is for realizing being connected ofright foot component 5 andright leg 3.

The lower end of DA through hole 5B7 for placing rightleg expansion link 3B.

DA dead eye 5B4 is for installing the J angular contact ball bearing 5A6 of right ankle joint 5A.

DB dead eye 5B5 is for installing the I angular contact ball bearing 5A3 of right ankle joint 5A.

Shown in Fig. 3 C, bottom right bearing 5C is provided with DC lug 5C1, DD lug 5C2, connecting plate 5C6, DC lug 5C1 is provided with DC dead eye 5C4, DD lug 5C2 is provided with DD dead eye 5C5, between DC lug 5C1 and DD lug 5C2, be DB lug grooves 5C3, described DB lug grooves 5C3 is interior for placing the 8th rotating shaft 5A5 of right ankle joint 5A.

Shown in Fig. 3 C, right sole 5F comprises footwear joint 5F7 and right crus of diaphragm plate 5F8, and the fixing head 5C6 of bottom right bearing 5C is installed on footwear joint 5F7, and right front sole 5D, right back sole 5E are installed on right crus of diaphragm plate 5F8; Footwear joint 5F7 is provided with D countersunk head blind hole 5F4, and this D countersunk head blind hole 5F4 is for D pressure transducer 5F1; Right crus of diaphragm plate 5F8 is provided with E countersunk head blind hole 5F5, F countersunk head blind hole 5F6, and E countersunk head blind hole 5F5 is for E pressure transducer 5F2; F countersunk head blind hole 5F6 is for F pressure transducer 5F3.

Shown in Fig. 3, Fig. 3 A, right ankle joint 5A includes D angular displacement sensor 5A1, B sleeve 5A2, I angular contact ball bearing 5A3, the 7th rotating shaft 5A4, the 8th rotating shaft 5A5, J angular contact ball bearing 5A6, D end cap 5A7, E end cap 5A8, K angular contact ball bearing 5A9, L angular contact ball bearing 5A10 and F end cap 5A11.D angular displacement sensor 5A1 is arranged in B sleeve 5A2, and in the sensitivity end of D angular displacement sensor 5A1 insertion the 8th rotating shaft 5A5, B sleeve 5A2 is fixed on the outer panel face of DA lug 5B1 of upperright bearing 5B.

The 7th rotating shaft 5A4 is placed in the DB lug grooves 5C3 between DC lug 5C1 and the DD lug 5C2 of bottom right bearing 5C.One end of the 7th rotating shaft 5A4 is socketed with K angular contact ball bearing 5A9, and the other end of the 7th rotating shaft 5A4 is socketed with L angular contact ball bearing 5A10.K angular contact ball bearing 5A9 is arranged in the DC dead eye 5C4 of DC lug 5C1 of bottom right bearing 5C, and in the outside of DC lug 5C1, E end cap 5A8 is installed.L angular contact ball bearing 5A10 is arranged in the DD dead eye 5C5 of DD lug 5C2 of bottom right bearing 5C, and in the outside of DD lug 5C2, F end cap 5A11 is installed.

The 8th rotating shaft 5A5 is placed in the DA lug grooves 5B3 between DA lug 5B1 and the DB lug 5B2 of upper right bearing 5B.One end of the 8th rotating shaft 5A5 is socketed with I angular contact ball bearing 5A3, and the other end of the 8th rotating shaft 5A5 is socketed with J angular contact ball bearing 5A6.I angular contact ball bearing 5A3 is arranged in the DA dead eye 5B4 of DA lug 5B1 of upper right bearing 5B.J angular contact ball bearing 5A6 is arranged in the DB dead eye 5B5 of DB lug 5B2 of upperright bearing 5B, and in the outside of DB lug 5B2, E end cap 5A7 is installed.

In the present invention, to have realized ankle joint be plane Hooke's hinge two degree of freedom structure in the cooperation of upper undersetting, two rotating shafts, four bearings.I.e. the 5th rotating shaft is through the 6th rotating shaft, and the two ends of the 5th rotating shaft are socketed respectively bearing, and this bearing is arranged on the lug of undersetting; The two ends of the 6th rotating shaft are socketed respectively bearing, and this bearing is arranged on the lug of upper bracket.The design of plane Hooke's hinge ankle joint can realize the front and back of human body ankle and swing, and measures in real time the swing angle of ankle by angular displacement sensor.

In the present invention, foot component structure is for guaranteeing the flexible of ankle joint and foot operation, and when people is dressed, ankle is not interrupted, can measure ankle joint angular displacement and plantar pressure simultaneously, is beneficial to the effective control to foot component.It is flexible, simple in structure that the foot component of the present invention's design has motion, simulates ankle motion completely, is a kind of use novel ankle joint and sole structure and angular displacement and pressure gauge reliable, low cost of manufacture.

The ankle joint mechanism design having at present all adopts spherical hinge structure form, and this structure has run into difficulty to the measurement of ankle joint direction of advance angular displacement, due to the restriction of spherical hinge structure, can not measure this angular displacement, and this control to robot impacts.The foot structure of the present invention's design, ankle joint mechanism has adopted plane Hooke's hinge two degree of freedom structure, before and after, rotating shaft and left and right rotating shaft realize respectively the front and back of sole and swing, and realized by other position around the rotational freedom of shank, in the time of robot control, need the pendulum angle of fore-and-aft direction to measure, therefore angular displacement sensor has been installed this side up, for measuring the pendulum angle before and after sole.Undersetting is arranged on sole, and on undersetting, angular displacement sensor has been installed, and the rotational angle of ankle joint is measured, and has met the measurement requirement of robot to ankle joint angular displacement.Shank expansion link is inserted in upper bracket, and front and back rotating shaft, bearing (ball) cover, bearing are fixed in the lug of upper bracket, realize the front and back rotational freedom of ankle, and realize the measurement of this angle by the angular displacement sensor in rotating shaft before and after being installed to; Left and right rotating shaft is inserted in undersetting fixing, and the axis of front and back rotating shaft is vertical with the axis maintenance of left and right rotating shaft, realizes the degree of freedom that swings of ankle; Between forefoot and hind paw and sole, pressure transducer is installed, and forefoot and hind paw and sole are fixed together, sole contacts with ground, when human body walking, plantar pressure changes, by the detection of pressure transducer, can judge people's walking intention, realize the good control of ectoskeleton supplemental support robot.

Claims (4)

1. a thigh and calf device with knee joint parameter measurement that is applicable to ectoskeleton supplemental support robot, is characterized in that: described thigh and calf part device comprises left leg assembly (2) and right leg assembly (3); Left hydraulic cylinder (6) is installed on left leg assembly (2), right hydraulic cylinder (7) is installed on right leg assembly (3);

Left leg assembly (2) includes left thigh expansion link (2A), left leg expansion link (2B), left thigh (2C), left leg (2D), left socle (2E), upper left bearing pin (2F), lower-left bearing pin (2G) and left knee joint, and described left knee joint is made up of A angular displacement sensor (2H), A angular contact ball bearing (2J), B angular contact ball bearing (2K), C sleeve (2L), left knee axis (2M) and I bearing (ball) cover (2N);

A angular displacement sensor (2H) is arranged in C sleeve (2L), and A angular displacement sensor (2H) inserts in left knee axis (2M); One end of left knee axis (2M) is socketed with A angular contact ball bearing (2J), and the other end of left knee axis 2M is socketed with B angular contact ball bearing (2K); Left knee axis (2M) is arranged in the AA through hole (2C5) of lower contact (2C4) of left thigh (2C); B angular contact ball bearing (2K) is arranged in the A dead eye (2D9) on AE lug (2D1), and installs I bearing (ball) cover (2N) at the outer panel face of AE lug (2D1); A angular contact ball bearing (2J) is arranged in the B dead eye (2D10) on AF lug (2D2), in the B dead eye (2D10) of left leg (2D), first install after A angular contact ball bearing (2J), again one end of C sleeve (2L) is arranged in B dead eye (2D10), and C sleeve (2L) is fixed on the outer panel face of AF lug (2D2);

One end of left thigh expansion link (2A) is ball pivot (2A1), and the other end of left thigh expansion link (2A) is cylinder (2A1), and cylinder (2A1) is inserted in the thigh blind hole (2C3) of left thigh (2C); The lower end of left leg expansion link (2B) is provided with AB through hole (2B1), and this AB through hole (2B1) passes for left sufficient pin (4B8); The upper end of left leg expansion link (2B) is inserted in the shank blind hole (2D13) of left leg (2D) lower end;

The upper end of left thigh (2C) is provided with thigh blind hole (2C3), and this thigh blind hole (2C3) is for placing the cylinder (2A1) of left thigh expansion link 2A; The lower end of left thigh (2C) is provided with thigh lower contact (2C4), and the end of thigh lower contact (2C4) is provided with AA through hole (2C5) and pin hole (2C6), and AA through hole (2C5) passes for left knee axis (2M);

Left socle (2E) is provided with fixing head (2E1), AC lug (2E2), AD lug (2E3), AC lug (2E2) is provided with AC through hole (2E4), AD lug (2E3) is provided with AD through hole (2E5), between AC lug (2E2) and AD lug (2E3), be C lug grooves (2E6), C lug grooves (2E6) is for placing the upper piston rod (6A) of left hydraulic cylinder (6), one end of upper left bearing pin (2F) is in turn through the AD through hole (2E5) on AD lug (2E3), through hole on upper piston rod (6A), after AC through hole (2E4) on AC lug (2E2), connect a nut,

The end, lower end of left leg (2D) is provided with shank blind hole (2D13), and this shank blind hole (2D13) is for placing the upper end of left leg expansion link (2B); Left leg (2D) is provided with AE lug (2D1), AF lug (2D2), AG lug (2D3), AH lug (2D4);

Between AE lug (2D1) and AF lug (2D2), be A lug grooves (2D7), this A lug grooves (2D7) is for placing the lower contact (2C4) of left thigh (2C); AE lug (2D1) is provided with A dead eye (2D9), and this A dead eye (2D9) is for placing B angular contact ball bearing (2K); AF lug 92D2) be provided with B dead eye (2D10), this B dead eye (2D10) is for placing A angular contact ball bearing (2J);

Between AG lug (2D3) and AH lug (2D4), be B lug grooves (2D8), AG lug (2D3) is provided with AE through hole (2D11), and AH lug (2D4) is provided with AF through hole (2D12); This B lug grooves (2D8) is for placing the lower piston rod (6B) of left hydraulic cylinder (6), and one end of lower-left bearing pin (2G) connects a nut after the AF through hole (2D12) passing on the AE through hole (2D11) on AG lug (2D3), through hole, the AH lug (2D4) on lower piston rod (6B);

Right leg assembly (3) includes right thigh expansion link (3A), right leg expansion link (3B), right thigh (3C), right leg (3D), right support (3E), upper right bearing pin (3F), bottom right bearing pin (3G) and right knee joint, and described right knee joint is made up of B angular displacement sensor (3H), C angular contact ball bearing (3J), D angular contact ball bearing (3K), D sleeve (3L), right knee axis (3M) and J bearing (ball) cover 3N;

B angular displacement sensor (3H) is arranged in D sleeve (3L), and B angular displacement sensor (3H) inserts in right knee axis 3M; One end of right knee axis (3M) is socketed with C angular contact ball bearing (3J), and the other end of right knee axis (3M) is socketed with D angular contact ball bearing (3K); Right knee axis 3M is arranged in the BA through hole (3C5) of lower contact (3C4) of right thigh (3C); D angular contact ball bearing (3K) is arranged in the A dead eye (3D9) on BE lug 3D1, and installs H bearing (ball) cover (3N) at the outer panel face of BE lug (3D1); C angular contact ball bearing (3J) is arranged in the B dead eye (3D10) on BF lug (3D2), in the B dead eye (3D10) of right leg (3D), first install after C angular contact ball bearing (3J), again one end of D sleeve (3L) is arranged in B dead eye 3D10, and D sleeve (3L) is fixed on the outer panel face of BF lug (3D2), D sleeve 3L is used for holding out against C angular contact ball bearing 3J, simultaneously also for B angular displacement sensor (3H) is installed;

One end of right thigh expansion link (3A) is ball pivot (3A1), and the other end of right thigh expansion link (3A) is cylinder (3A1), and cylinder (3A1) is inserted in the thigh blind hole (3C3) of right thigh (3C); The lower end of right leg expansion link (3B) is provided with BB through hole (3B1), and this BB through hole (3B1) passes for right sufficient pin (5B8); The upper end of right leg expansion link (3B) is inserted in the shank blind hole (3D13) of right leg (3D) lower end;

The upper end of right thigh (3C) is provided with thigh blind hole (3C3), and this thigh blind hole (3C3) is for placing the cylinder (3A1) of right thigh expansion link (3A); The lower end of right thigh (3C) is provided with thigh lower contact (3C4), and the end of thigh lower contact (3C4) is provided with BA through hole (3C5) and pin hole (3C6), and BA through hole (3C5) passes for right knee axis (3M);

Right support (3E) is provided with fixing head (3E1), BC lug (3E2), BD lug (3E3), BC lug (3E2) is provided with BC through hole (3E4), BD lug (3E3) is provided with BD through hole (3E5), between BC lug (3E2) and BD lug (3E3), be C lug grooves (3E6), C lug grooves (3E6) is for placing the upper piston rod (6A) of right hydraulic cylinder (6), one end of upper right bearing pin (3F) is in turn through the BD through hole (2E5) on BD lug (3E3), through hole on upper piston rod (6A), after BC through hole (3E4) on BC lug (2E2), connect a nut,

The end, lower end of right leg (3D) is provided with shank blind hole (3D13), and this shank blind hole (3D13) is for placing the upper end of right leg expansion link (3B); Right leg (3D) is provided with BE lug (3D1), BF lug (3D2), BG lug (3D3), BH lug (3D4);

Between BE lug (3D1) and BF lug (3D2), be A lug grooves (3D7), this A lug grooves (3D7) is for placing the lower contact (3C4) of right thigh (3C); BE lug (3D1) is provided with A dead eye (3D9), and this A dead eye (3D9) is for placing D angular contact ball bearing (3K); BF lug (3D2) is provided with B dead eye (3D10), and this B dead eye (3D10) is for placing C angular contact ball bearing (3J);

Between BG lug (3D3) and BH lug (3D4), be B lug grooves (3D8), BG lug (3D3) is provided with BE through hole (3D11), and BH lug (3D4) is provided with BF through hole (3D12); This B lug grooves (3D8) is for placing the lower piston rod (6B) of right hydraulic cylinder (6), and one end of bottom right bearing pin (3G) connects a nut after the BF through hole (3D12) passing on the BE through hole (3D11) on BG lug (3D3), through hole, the BH lug (3D4) on lower piston rod (6B); In the present invention, realize the installation of lower piston rod (6B) Yu the right leg (3D) of right hydraulic cylinder (6) by bottom right bearing pin (3G).

2. the thigh and calf device with knee joint parameter measurement that is applicable to ectoskeleton supplemental support robot according to claim 1, is characterized in that: left leg assembly (2) adopts Driven by Hydraulic Cylinder with the knee joint in right leg assembly (3).

3. the thigh and calf device with knee joint parameter measurement that is applicable to ectoskeleton supplemental support robot according to claim 1, is characterized in that: the upper end of left leg assembly (2) and right leg assembly (3) and waist be connected to spherical hinge structure.

4. the thigh and calf device with knee joint parameter measurement that is applicable to ectoskeleton supplemental support robot according to claim 1, is characterized in that: the lower end of left leg assembly (2) and right leg assembly (3) and foot be connected to plane Hooke's hinge structure.

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