A kind of integrated multiple degrees of freedom lower limb exoskeleton of auxiliary lightnessTechnical field
The present invention relates to the bionical wearable exoskeleton robot field of one kind；It is particularly a kind of to aid in the integrated many of lightnessFree degree lower limb exoskeleton.
Background technology
In scientific and technological highly developed today, robot has penetrated into all trades and professions, performs various tasks, bionicalExoskeleton robot is exactly a very important module in robot field, and robot multi-freedom joint can be effectively completeInto compound movement, expand the application field of robot, but traditional multi-freedom joint is essentially from scattered free degree groupInto, or be made up of two frees degree, scope of activities is smaller, complicated in mechanical structure, overall weight be difficult to it is lighter, moreIt is submissive.With the continuous development of scientific technology, particularly after 21 century is entered, ectoskeleton power-assisting robot is used as a kind of peopleThe auxiliary equipment of body, unprecedented development is obtained in military domain and civil area.
Current ectoskeleton power-assisting robot species is various, and ectoskeleton power-assisting robot is carried out according to diarthrodial number is drivenClassification, including:Simple joint ectoskeleton power-assisting robot and multi-joint ectoskeleton power-assisting robot (two and above driving joint).Simple joint ectoskeleton power-assisting robot is easily discriminated, i.e. hip, knee, ankle ectoskeleton power-assisting robot system.Multi-joint ectoskeletonPower-assisting robot has more preferable power-assisted effect and ability in contrast, in military, space flight, industry, building, fire-fighting and rehabilitationAll it is widely used, and is asked in structure design, type of drive, gait perception, control strategy and energy source configuration etc. Deng fieldAlso more complicated in topic, multi-joint ectoskeleton power-assisting robot structure design is the focus and difficult point of research.It can more can approachThe physical activity free degree, bionic exoskeleton the Degree of Structure Freedom design directly affects overall wearing comfort degree.At present both at home and abroad more certainlyVarious by degree structure design species, due to the design defect of structure type, multi-joint ectoskeleton power-assisting robot power-assisted effect is notToo preferable, coupled is poor, dresses uncomfortable, even if having multi-joint, main passive matrix system design is complicated, constrainsThe scope of activities of multi-joint, can not play a part of good power-assisted auxiliary.
The content of the invention
It is an object of the invention to the above-mentioned deficiency for overcoming prior art, there is provided a kind of the integrated how free of auxiliary lightnessLower limb exoskeleton is spent, the lower limb exoskeleton structure type traditional by improving is integrated to each joint freedom degrees, increase is actively closedDriving structure is saved, the lightweight structure form in the case of loading demand is met enhances man-machine safety and wearing comfort degree, carriedHigh ectoskeleton aids in effect.
The above-mentioned purpose of the present invention is achieved by following technical solution：
A kind of integrated multiple degrees of freedom lower limb exoskeleton of auxiliary lightness, including back connector, back installing plate, waistConnector, hip biomimetic features, hip joint driver, hip joint, thigh biomimetic features, knee joint driver, thigh connector,Knee joint, shank bionic structure, ankle-joint and bionic foot structure；Wherein bionic foot structure level fixed placement is outside lower limbThe bottom of bone；The edge of bionic foot structure upper surface is provided with ankle-joint；Shank bionic structural vertical is placed, and shankThe bottom of biomimetic features is fixedly connected by ankle-joint with bionic foot structure；The top of shank bionic structure is provided with knee passSection；Thigh biomimetic features are fixedly mounted on kneed top vertically；The outside of thigh biomimetic features is vertically provided withKnee joint driver；Thigh connector is fixedly mounted in the inner side level of thigh biomimetic features, realizes the fixation to human thigh；HipArthrodesis is arranged on the upper end of thigh biomimetic features；Hip biomimetic features are fixedly mounted on the upper end of hip joint, and hip is imitativeHip joint driver is installed with the outside of raw structure；Waist connector is fixedly connected with hip biomimetic features, is realized to peopleThe fixation of body waist；Back installing plate is fixedly connected with waist connector vertically；Back connector is fixedly mounted on back verticallyThe top of installing plate, realizes the fixation to shoulders of human body.
In a kind of integrated multiple degrees of freedom lower limb exoskeleton of above-mentioned auxiliary lightness, described shank bionic structure includesShank bionic bar and telescopic adjustment part；Shank bionic bar is fixedly mounted on kneed lower end, and shank bionic bar is hollow rod shapeStructure, telescopic adjustment part is fixedly mounted in the hollow hole of shank bionic bar vertically vertically, and telescopic adjustment part is along hole directionRealize stretching motion.
In a kind of integrated multiple degrees of freedom lower limb exoskeleton of above-mentioned auxiliary lightness, the lower limb exoskeleton also includes the back of the bodyPortion's connecting plate, hip expansion plate, rotating shaft and extension spring；Wherein back connecting plate is dagger type platy structure；2 back connectionsPlate cross-fixing is at the center side of back installing plate, and rotating shaft is vertically fixedly mounted on the point of intersection of 2 back connecting plates；One end of extension spring is fixedly mounted on the side of back installing plate, and the other end of extension spring is consolidated with the end of back connecting plateFixed connection, is realized spacing to tightening up for back connecting plate；One end level of hip expansion plate is fixedly mounted on back connecting plateBoth sides, the other end of hip expansion plate is fixedly connected with hip biomimetic features, realizes that hip biomimetic features are stretched along both sidesMotion.
In a kind of integrated multiple degrees of freedom lower limb exoskeleton of above-mentioned auxiliary lightness, described thigh biomimetic features includeThe bionical rod member of thigh regulating part, thigh, thigh torsional spring, thigh spring chuck and jump ring；Wherein, thigh regulating part is hollowFormer barrel structure, thigh regulating part is placed vertically；The bionical rod member of thigh is placed vertically, and the bionical rod member of thigh top be provided with it is blindHole；The lower end of thigh regulating part is stretched into the blind hole of the bionical rod member of thigh；Thigh regulating part is coated on the outer wall of jump ring, and jump ringBottom stretch out thigh regulating part lower section；The bottom of thigh regulating part blind hole is installed with thigh spring chuck；ThighThigh torsional spring is installed between spring chuck and jump ring.
In a kind of integrated multiple degrees of freedom lower limb exoskeleton of above-mentioned auxiliary lightness, the bionic foot structure includes footPortion's sole and ankle-joint seat；Wherein, foot sole is horizontally set on the bottom of bionic foot structure, realizes bionic footThe vola that structure is fixed on human body is fixedly connected；Ankle-joint seat is fixedly mounted on the outside of foot sole, realizes and ankle-jointConnection.
In a kind of integrated multiple degrees of freedom lower limb exoskeleton of above-mentioned auxiliary lightness, the ankle-joint seat is taper knotStructure, the top of ankle-joint seat is provided with reeded boss.
In a kind of integrated multiple degrees of freedom lower limb exoskeleton of above-mentioned auxiliary lightness, the ankle-joint include ball bearing,Ankle-joint upper boom and butterfly spring；Wherein, one end of butterfly spring is stretched into the groove of ankle-joint seat boss；Ball bearing fixes peaceMounted in the other end of butterfly spring；One end of ankle-joint upper boom is fixedly connected with ball bearing, the other end of ankle-joint upper boom with it is smallLeg biomimetic features are fixedly connected.
In a kind of integrated multiple degrees of freedom lower limb exoskeleton of above-mentioned auxiliary lightness, the back connector is realized around ZAxle rotates -10 ° -10 °；Hip joint is realized rotates 70 ° -180 ° around X-axis；Hip joint is realized rotates -10 ° -90 ° about the z axis；Hip jointRealization rotates -90 ° -90 ° around Y-axis；Knee joint is realized rotates 0 ° -65 ° around X-axis；Ankle-joint realize rotating around X, Y, Z axis rotation-10°-10°。
The present invention has the following advantages that compared with prior art：
(1) the symmetrical design of hip biomimetic features that the present invention is provided, left and right back connecting plate, which is connected to, to be fixed onRotary shaft on the installing plate of back, in the presence of extension spring, left and right hip biomimetic features have to be moved up and down certainly around fixing axleBy spending and returning power function, while adding bionical back around bionical hip the Degree of Structure Freedom；While back installing plate and shoulder peopleBy Spindle Links between machine connector, add human upper limb and tilt forward and back the free degree, people's machine matching is more preferable when squatting down；
(2) hip joint that the present invention is provided is integrated with 3 frees degree：Bend and stretch, interior abduction and inside and outside rotation；In interior hip jointSpindle Links between connector and connector, add folder function；Simultaneously in being provided with the linear spring of thigh biomimetic featuresRotate back to power function outside；The hip joint free degree compares traditional hip joint free degree structure in the distributed design of hip and leg,It is more integrated, head shot secondary formula freedom of movement close to human hip humerus, effectively reduce lower limb exercise to hip more thanInfluence, function is concentrated, and enhances man-machine coordination；
(3) ankle-joint that the present invention is provided is 3DOF, adds the bionic foot structure movement free degree, improves downAdaptability of the limb ectoskeleton to road conditions；There are butterfly spring, increase biomimetic features Hui Ligong in the middle of ankle-joint upper boom and adjusting rodCan, man-machine safety and coupling are more preferable；
(4) driver that the present invention is provided is left and right knee joint and left and right hip joint driver, is imitated compared to simple joint drivingRaw structure, it is complementary to wearer more preferable；In driving joint, reducing gear connection ball wire is driven using drive device rotating shaftThick stick, in view of the higher transmission efficiency of ball-screw, can be at utmost by power output, and then the effect of energy-conservation is played, simultaneouslyJoint driver versatility can be added according to actual auxiliary force Demand Design speed reducing ratio.Hip joint driver is that driver is straightConnected reduction gearbox output shaft band movable joint rotating shaft rotation；
(5) the integrated multiple degrees of freedom lower limb exoskeleton mechanism moduleization design for a kind of auxiliary lightness that the present invention is provided,Certain module fast can be dismantled and adjust applied to different assistance platforms according to without back-up needs；Complete machine structure is integratedDesign, functional diversities are simple for structure, and it is convenient to dress, and the design of multiple degrees of freedom biomimetic features improves wearing comfort；This hairIt is bright to can be widely applied to fields such as " light-duty power-assisted, heavy power-assisted, rehabilitations of helping the disabled ".
Brief description of the drawings
Fig. 1 is power-assisted lower limb exoskeleton structural representation of the present invention；
Fig. 2 is shank bionic structural representation of the present invention；
Fig. 3 is hip biomimetic features schematic diagram of the present invention；
Fig. 4 is thigh biomimetic features schematic diagram of the present invention；
Fig. 5 is power-assisted lower limb exoskeleton bionic foot structural representation of the present invention；
Fig. 6 is each joint rotation schematic diagram of the invention.
Embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings：
The technical problem to be solved in the present invention：Power-assisted mechanical exoskeleton will realize good coupled, it is desirable to its outward appearanceMeet characteristics of human body with joint ratio, while each main passive joint free degree design of bionic exoskeleton needs to meet Human Physiology workDynamic characteristic, reduces machine and human body is loaded and feel, and can just play auxiliary power-assisted effect.Traditional hip joint mechanical structure does not possess completelyMeet the freedom of movement performance of human body, even if can not also ensure man-machine wearing close to physical activity scope by the scattered free degreeComfortableness and security, it is therefore desirable to a kind of new integrated multiple degrees of freedom lightness power-assisted lower limb exoskeleton robot.MachineryEctoskeleton outward appearance and joint ratio meet characteristics of human body, and lower limb exoskeleton needs to ensure man-machine harmony and wearing activity comfortDegree is, it is necessary to which each articulation structure of bionic exoskeleton is close to human body structure；Wearer using lower limb exoskeleton bear load when,Ensure that the power-assisted of ectoskeleton aids in effect, it is necessary to which ectoskeleton and hip and knee driving auxiliary wearer's support load, mitigate loadSense；Auxiliary type multiple degrees of freedom ectoskeleton helps wearer's reduction load sense simultaneously, it is necessary to ensure wearing ectoskeleton in load stateUnder man-machine safety, it is necessary to which mechanical structure can not excessively lengthy and jumbled lightweight and collection, it is necessary to which driving structure and biomimetic features are tried one's bestCheng Hua.
Be as shown in Figure 1 power-assisted lower limb exoskeleton structural representation, there is figure to understand, it is a kind of aid in lightness it is integrated it is many fromClosed by degree lower limb exoskeleton, including back connector 14, back installing plate 10, waist connector 13, hip biomimetic features 3, hipSave driver 1, hip joint 9, thigh biomimetic features 6, knee joint driver 2, thigh connector 12, knee joint 8, shank bionic knotStructure 5, ankle-joint 7 and bionic foot structure 4；The wherein horizontal fixed placement of bionic foot structure 4 is in the bottom of lower limb exoskeleton；FootThe edge of the upper surface of portion's biomimetic features 4 is provided with ankle-joint 7；Shank bionic structure 5 is placed vertically, and shank bionic structure 5Bottom be fixedly connected by ankle-joint 7 with bionic foot structure 4；The top of shank bionic structure 5 is provided with knee joint 8；GreatlyLeg biomimetic features 6 are fixedly mounted on the top of knee joint 8 vertically；The outside of thigh biomimetic features 6 is vertically provided with kneeJoint driver 2；Thigh connector 12 is fixedly mounted in the inner side level of thigh biomimetic features 6, realizes the fixation to human thigh；Hip joint 9 is fixedly mounted on the upper end of thigh biomimetic features 6；Hip biomimetic features 3 are fixedly mounted on the upper end of hip joint 9, structureInto left and right leg extensions or so degree；And the outside of hip biomimetic features 3 is installed with hip joint driver 1；Waist connector 13It is fixedly connected with hip biomimetic features 3, realizes the fixation to human body waist；Back installing plate 10 is solid with waist connector 13 verticallyFixed connection；Back connector 14 is fixedly mounted on the top of back installing plate 10 vertically, realizes the fixation to shoulders of human body.
Shank bionic structural representation is illustrated in figure 2, has figure to understand, shank bionic structure 5 includes shank bionic bar 15With telescopic adjustment part 16；Shank bionic bar 15 is fixedly mounted on the lower end of knee joint 8, and shank bionic bar 15 is hollow rod shape knotStructure, telescopic adjustment part 16 is fixedly mounted in the hollow hole of shank bionic bar 15 vertically vertically, and telescopic adjustment part 16 is along holeRealize stretching motion in direction.
Fig. 3 be hip biomimetic features schematic diagram of the present invention, have figure understand, lower limb exoskeleton also including back connecting plate 17,Hip expansion plate 18, rotating shaft 19 and extension spring 20；Wherein back connecting plate 17 is dagger type platy structure；2 back connectionsThe cross-fixing of plate 17 is at the center side of back installing plate 10, and rotating shaft 19 is vertically fixedly mounted on 2 back connecting plates 17Point of intersection；One end of extension spring 20 is fixedly mounted on the side of back installing plate 10, the other end and the back of the body of extension spring 20The end of portion's connecting plate 17 is fixedly connected, and is realized spacing to tightening up for back connecting plate 17；Along fixation between back connecting plate 17Axle can have the corresponding free degree and return power function；Wherein hip expansion plate 18 according to human body waist width respectively with left and right sides backConnecting plate 17 carries out telescopic adjustment；The left and right sides hip expansion plate other end passes through left and right hip with left and right sides thigh biomimetic features respectivelyJoint 9 is linked
One end level of hip expansion plate 18 is fixedly mounted on the both sides of back connecting plate 17, hip expansion plate 18 it is anotherEnd is fixedly connected with hip biomimetic features 3, realizes that hip biomimetic features 3 carry out stretching motion along both sides.
Be illustrated in figure 4 thigh biomimetic features schematic diagram, have figure understand, thigh biomimetic features 6 include thigh regulating part 21,The bionical rod member 22 of thigh, thigh torsional spring 23, thigh spring chuck 24 and jump ring 25；Wherein, thigh regulating part 21 is hollowFormer barrel structure, thigh regulating part 21 is placed vertically；The bionical rod member 22 of thigh is placed vertically, and the top of the bionical rod member 22 of thigh is setIt is equipped with blind hole；The lower end of thigh regulating part 21 is stretched into the blind hole of the bionical rod member 22 of thigh；Thigh regulating part 21 is coated on jump ring25 outer wall, and the lower section of the bottom stretching thigh regulating part 21 of jump ring 25；Peace is fixed in the bottom of the blind hole of thigh regulating part 21Equipped with thigh spring chuck 24；Thigh torsional spring 23 is installed between thigh spring chuck 24 and jump ring 25.
Power-assisted lower limb exoskeleton bionic foot structural representation is illustrated in figure 5, has figure to understand that bionic foot structure 4 is wrappedInclude foot sole 11 and ankle-joint seat 26；Wherein, foot sole 11 is horizontally set on the bottom of bionic foot structure 4, realNow the vola that bionic foot structure 4 is fixed on human body is fixedly connected；Ankle-joint seat 26 is fixedly mounted on foot sole 11Outside, realizes the connection with ankle-joint 7.
Wherein, ankle-joint seat 26 is pyramidal structure, and the top of ankle-joint seat 26 is provided with reeded boss.In addition,Ankle-joint 7 includes ball bearing 27, ankle-joint upper boom 28 and butterfly spring 29；Wherein, ankle-joint is stretched into one end of butterfly spring 29In the groove of 26 boss of seat；Ball bearing 27 is fixedly mounted on the other end of butterfly spring 29；One end of ankle-joint upper boom 28 and ballBearing 27 is fixedly connected, and the other end of ankle-joint upper boom 28 is fixedly connected with shank bionic structure 5.
Be illustrated in figure 6 each joint rotation schematic diagram, there is figure to understand, back connector 14 realize rotate about the z axis -10 ° -10°；Hip joint 9 is realized rotates 70 ° -180 ° around X-axis；Hip joint 9 is realized rotates -10 ° -90 ° about the z axis；Hip joint 9 is realized around YAxle rotates -90 ° -90 °；Knee joint 8 is realized rotates 0 ° -65 ° around X-axis；Ankle-joint 7 realize rotating around X, Y, Z axis rotate -10 ° -10°。
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.