CN105798893B - One kind auxiliary heavy burden human body lower limbs ectoskeleton - Google Patents
One kind auxiliary heavy burden human body lower limbs ectoskeleton Download PDFInfo
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- CN105798893B CN105798893B CN201610385317.0A CN201610385317A CN105798893B CN 105798893 B CN105798893 B CN 105798893B CN 201610385317 A CN201610385317 A CN 201610385317A CN 105798893 B CN105798893 B CN 105798893B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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Abstract
The present invention discloses a kind of auxiliary heavy burden human body lower limbs ectoskeleton, it is characterised in that symmetrical structure centered on the ectoskeleton, and is made up of per side anterior side chain and rear portion side chain, and rear portion side chain includes knapsack module, rear link and energy-storage module；The energy-storage module includes connecting shaft on energy-storage module, leads cylinder upper connecting rod, lead cylinder lower link, lead connecting shaft and energy-storage module axle sleeve under cylinder upper end cover, controllable linear damper, long spring stop, long spring, short spring stop, short spring, short spring guide, short spring block, energy-storage module；Lead cylinder upper connecting rod and lead cylinder lower link and coordinated by leading cylinder upper end cover and leading cylinder upper connecting rod, constitute prismatic pair；Lead cylinder upper end cover and be connected with leading cylinder lower link, lead cylinder upper connecting rod end and long spring stop is installed, lead and long spring is installed in cylinder lower link；Short spring guide upper end is connected with short spring stop, short spring block is installed in lower end, and short spring guide, up to short spring is contacted with short spring stop, applies pretightning force from center through short spring.
Description
Technical field
It is specially a kind of auxiliary heavy burden human body lower limbs ectoskeleton the present invention relates to human body lower limbs ectoskeleton walk help technology.Its
It is characterized in that, with energy storage device, human body long-time, remote walking with load can be aided in.
Background technology
Exoskeleton device is increasingly paid attention to as the device of mankind's walk help by each field, particularly human body auxiliary neck
Domain.Existing walk-aiding exoskeleton has been broadly divided into outer driving and without two major classes of outer driving.Wherein there is outer driving ectoskeleton type of drive
It is broadly divided into pneumatic, hydraulic pressure, motor driving etc..And aid in human body walking with load ectoskeleton mainly to use motorized motions side at a distance
Formula, e.g., Italy Marco Fontana in 2011 et al. are published in IEEE ROBOTICS＆AUTOMATION MAGAZINE
December 201434-44 paper, a whole body ectoskeleton (AFull-Body for aiding in human body to bear a heavy burden
Exoskeleton forthe Transport and Handling ofHeavy Loads), the ectoskeleton deadweight 160kg, have
22 frees degree, by the way of battery provides energy motorized motions, it is 50kg that maximum, which carries heavy burden, and sustainable operation 1 to 2 is small
When.And for example, the Chinese invention patent report of Application No. 201310262919.3, is driven, battery provides energy using motor
Mode, can be applied to aid in military soldier to fight and auxiliary human body lower limbs rehabilitation.Without outer driving ectoskeleton, such as 2007 U.S.
JAMES WALSH et al. are published in Humanoid Robotics Vol.4, No.3 (2007) 487-506 one auxiliary of paper
Lift passive lower limb exoskeleton (the A Quasi-Passive Leg Exoskeleton for Load- that human body bears a heavy burden
Carrying Augmentation), ectoskeleton deadweight 11.7kg can be in the case where load be 36kg by BW
80% conducts to ground.But because mechanism quality itself is big and poor with body gait adaptedness, so with human body identical negative
Compare in the case of load, add 10% human body oxygen demand.
Because people exoskeleton bearing capacity of the tradition with driving is poor, rigidity is small, dynamic property is bad, heavy, energy consumption
Greatly, cruising time is short；Controller, sensor are set up, and auxiliary people exoskeleton control is main using servo antrol and predetermined
The mode of adopted gait control is, it is necessary to arrange compared with multisensor, and cost is high, processing and manufacturing is difficult.So that can not be in human body for a long time
Used in the case of remote walking with load, such as earthquake rescue, function passenger travel, without elevator cell carrying heavy goods upstairs.
The content of the invention
In view of the shortcomings of the prior art, the technical problems to be solved by the invention are：There is provided under a kind of auxiliary heavy burden human body
Limb ectoskeleton.The ectoskeleton provides driving power by human muscle, and the 60-90% that human body is loaded is undertaken by ectoskeleton, and
Human muscle's storage and release potential energy are imitated with energy-storage travelling wave tube, to reduce human synovial torque load(ing), is realized remote for a long time
Human body walking with load is aided in, the consumption of energy in skeleton stress and walking is reduced, so as to reach lifting human body lifting capacity
With the effect of extension walking duration.
The present invention solves the technical scheme that is used of the technical problem：A kind of auxiliary heavy burden human body lower limbs dermoskeleton of design
Bone, it is characterised in that symmetrical structure centered on the ectoskeleton, and be made up of per side anterior side chain and rear portion side chain two large divisions, institute
Anterior side chain is stated including Yao Ji Kua joint modules, knee joint module, thigh module, calf module, ankle-joint and foot's module；Waist
Ji Kua joint modules lower end Tong Guo Kua legs revolute pairs are connected with thigh module upper end, and thigh module lower end passes through thigh and calf revolute pair
And leg knee revolute pair is connected with calf module upper end and knee joint module front end, calf module lower end passes through leg ankle revolute pair and ankle
Joint and foot's module connection；
The rear portion side chain includes knapsack module, rear link and energy-storage module；Behind rear link upper end and knapsack module
End is connected by revolute pair on back link, and rear portion side chain lower end passes through back link with energy-storage module upper end and knee joint module rear end
Revolute pair is connected in lower revolute pair and energy-storage module；Ectoskeleton left-half and right half part pass through respective knapsack end of module
Knapsack revolute pair is connected, and ectoskeleton unilateral anterior side chain upper end and rear portion side chain upper end are connected by knapsack hack lever front end, waist joint
Spindle is connected with waist joint revolute pair, the unilateral anterior side chain of ectoskeleton and rear portion side chain lower end by connecting shaft under energy-storage module,
Rear feet connecting rod is connected with revolute pair under energy-storage module；
The energy-storage module include energy-storage module on connecting shaft, lead cylinder upper connecting rod, lead cylinder lower link, lead cylinder upper end cover, can
Control linear damper, long spring stop, long spring, short spring stop, short spring, short spring guide, short spring block, energy storage mould
Connecting shaft and energy-storage module axle sleeve under block；It is described to lead cylinder upper connecting rod and lead cylinder lower link by leading cylinder upper end cover and leading cylinder upper connecting rod
Coordinate, constitute prismatic pair；Lead cylinder upper end cover and be connected with leading cylinder lower link, lead cylinder upper connecting rod end and long spring stop is installed, lead cylinder
Long spring is installed, long spring diameter is installed on more than short spring and led at cylinder lower link inwall in lower link；Short spring guide upper end
Be connected with short spring stop, short spring block is installed in lower end, short spring guide from center through short spring up to short spring with it is short
Spring stop is contacted, and long spring inner is integrally nested in and installed in leading in cylinder lower link, by short spring block with leading under cylinder
Connecting rod, which coordinates, is embodied as the purpose that short spring applies pretightning force, and this design can play quick increase energy-storage module in body gait
The effect of energy storage speed；Controllable linear damper, which is installed on, leads in cylinder lower link, coordinates with leading cylinder upper connecting rod, passes through damping control
Device controls the locked and open mode of controllable linear damper；Connecting shaft under rear link, after knee joint with connecting on energy-storage module
Bar is connected, and connecting shaft is connected by energy-storage module axle sleeve with rear feet connecting rod under energy-storage module.
Compared with prior art, present invention auxiliary heavy burden human body lower limbs ectoskeleton advantage is：The ectoskeleton is closed chain machine
Structure, it is large carrying capacity, simple in construction, stably and controllable, including energy-storage travelling wave tube, human body walking with load can be aided in, skeleton is reduced
Stress and each joint loads torque, it can be conducted knapsack 60-90% weight to ground by ectoskeleton, and can reduce human body
The 11.9-13.4% of walking load torque, with light weight, small volume, carrying is big, adapt to body gait, cruising time length etc.
Feature.
Brief description of the drawings
Fig. 1 illustrates for a kind of overall isometric three-dimensional wireframe of present invention auxiliary embodiment of heavy burden human body lower limbs ectoskeleton
Figure.
Fig. 2 is a kind of present invention auxiliary left view structural representation of embodiment of heavy burden human body lower limbs ectoskeleton.
Fig. 3 aids in a kind of isometric structural representation of embodiment of heavy burden human body lower limbs ectoskeleton for the present invention.
Fig. 4 aids in a kind of energy-storage travelling wave tube section (A-A in Fig. 2) of embodiment of heavy burden human body lower limbs ectoskeleton for the present invention
Structural representation.
Fig. 5 is worn on the isometric three-dimensional structure of human body for a kind of present invention auxiliary embodiment of heavy burden human body lower limbs ectoskeleton
Schematic diagram.
In Fig. 1-5,1. anterior side chains, 2. rear portion side chains, 11. Yao are Ji Kua joint modules, 12. thigh modules, 13. knee joints
Module, 14. calf modules, 15. ankle-joints and foot's module, 21. knapsack modules, 22. rear links, 23. energy-storage modules, 111.
Connecting plate in anti-wear sleeve, 112. waist joint connecting shafts, 113. Yao Kua outside link plates, 114. Yao Kua, 115. Kua joints connecting shafts,
116. waist joint controllable damper, 117. Kua joints controllable dampers, 121. thigh upper junction plates, 122. thigh lower connecting plates,
123. thigh Strap connectors, 131. knee joint back links, 132. knee joint connecting shafts, 133. knee joint controllable dampers,
134. knee joint axle sleeve, 141. shank upper junction plates, 142. shank lower connecting plates, 143. shank Strap connectors, 151. ankles are closed
Save controllable damper, 152. forefoot connecting rods, 153. foot's bottom plates, 154. rear feet connecting rods, 155. foot's adjustable plates, 156. ankles
Joint connecting shaft, 157. sole rubber springs, 158. foot's bandage connecting holes, 159. foot's axle sleeves, 211. knapsacks, 212. electricity
Pond, 213. damping controllers, 214. knapsack hack levers, 215. knapsack support plates, 216. waistband connectors, the connection of 217. knapsack hack levers
In axle, 218. Kua portions lateral rotation bearing pins, 219. knapsack module axle sleeves, 221. rear links, under 222. rear links, after 223.
Connecting shaft on connecting rod bearing, 231. energy-storage modules, 232. lead cylinder upper connecting rod, and 233. lead cylinder lower link, and 234. lead cylinder upper end cover,
235. controllable linear dampers, 236. long spring stops, 237. long springs, 238. short spring stops, 239. short springs, 23a. is short
Connecting shaft, 23d. energy-storage modules under spring guide, the short spring blocks of 23b., 23c. energy-storage modules.
Embodiment
The present invention is further discussed below with reference to embodiment and its accompanying drawing.Specific embodiment is only used for describing the present invention in detail
Lower limb exoskeleton, the application scope of the claims is not limited.
Symmetrical junction centered on the auxiliary heavy burden human body lower limbs ectoskeleton (abbreviation ectoskeleton, referring to Fig. 1-5) that the present invention is designed
Structure, and include front portion side chain 1 and the two large divisions of rear portion side chain 2 per side ectoskeleton.
The anterior side chain 1 include Yao Ji Kua joint modules 11, thigh module 12, knee joint module 13, calf module 14,
Ankle-joint and foot's module 15；Yao is Ji the lower end Tong Guo Kua legs revolute pairs of Kua joint modules 11 are connected with the upper end of thigh module 12, greatly
The lower end of leg module 12 is connected by thigh and calf revolute pair and leg knee revolute pair with the upper end of calf module 14 and the front end of knee joint module 13
Connect, the lower end of calf module 14 is connected by leg ankle revolute pair with ankle-joint and foot's module 15.
The rear portion side chain 2 includes knapsack module 21, rear link 22 and energy-storage module 23 (referring to Fig. 1,2).Yao is Ji Kua
The , Kua of connecting plate 114 in anti-wear sleeve 111, the , Yao Kua of 112 , Yao Kua outside link plates of waist joint connecting shaft 113 of joint module 11 are closed
Connecting shaft 115 is saved, the , Kua joints controllable damper 117 of waist joint controllable damper 116 is constituted.Thigh module 12 connects on thigh
Fishplate bar 121, thigh lower connecting plate 122, thigh Strap connectors 123 are constituted.Knee joint module 13 by knee joint back link 131,
Knee joint connecting shaft 132, knee joint controllable damper 133 and knee joint axle sleeve 134 are constituted.Calf module 14 is connected on shank
Plate 141, shank lower connecting plate 142, shank Strap connectors 143.Ankle-joint and foot's module 15 are by ankle-joint controllable damper
151, forefoot connecting rod 152, foot's bottom plate 153, rear feet connecting rod 154, foot's adjustable plate 155, ankle-joint connecting shaft 156, pin
Primer leather spring 157, foot's bandage connecting hole 158 and foot's axle sleeve 159 are constituted.Rear link 22 include rear link on 221,
222 and back link axle sleeve 223 under rear link (referring to Fig. 1,2,3).
The knapsack module 21 includes knapsack 211, battery 212, damping controller 213, knapsack hack lever 214, knapsack support plate
215th, waistband connector 216, knapsack hack lever connecting shaft 217, Kua portions lateral rotation bearing pin 218 and (this hair of knapsack module axle sleeve 219
Bright all axle sleeves of embodiment are anti-wear sleeve).Knapsack module 21 led to Kua portions lateral rotation pin using two knapsack hack levers 214
Axle 218 is connected, the horizontal swing of Ke Shi Xian Kua portions.Knapsack support plate 215 and waistband connector 216 are arranged on knapsack hack lever 214, and
Knapsack 211, battery 212, damping controller 213 are installed on knapsack support plate 215, and human body passes through knapsack straps and waistband and knapsack
Module 21 is connected and (dressed).Knapsack module 21 and Yao are Ji Kua joint modules 11 are connected by waist joint connecting shaft 112；Yao is Ji Kua
In the, Yao Kua of 11 Yao Kua outside link plates of joint module 113 connecting plate 114 by anti-wear sleeve 111 and waist joint connecting shaft 112,
Kua joints connecting shaft 115 is connected, and is respectively mounted the controllable resistance of waist joint in the He Kua joints connecting shaft 115 of waist joint connecting shaft 112
The He Kua joints controllable damper 117 of Buddhist nun's device 116.Yao is Ji Kua joint modules 11 and the Tong Guo Kua joints connecting shaft 115 of thigh module 12
Connection, thigh upper junction plate 121 and thigh lower connecting plate 122 realize adjustable length, wherein thigh bandage by mounting hole connection
Connector 123 is arranged on thigh upper junction plate 121, is connected by bandage with human thigh.Knee joint module 13 is closed by knee
Section connecting shaft 132 and knee joint axle sleeve 134 are connected with thigh module 12 and calf module 14, pass through connecting shaft on energy-storage module
231st, back link axle sleeve 223 is connected with rear link 22 and energy-storage module 23.Calf module 14, shank upper junction plate 141 and small
Leg lower connecting plate 142 is connected by mounting hole and adjustable length, wherein shank Strap connectors 143 are arranged on shank upper junction plate
It is connected on 141 by bandage with human calf.Ankle-joint and foot's module 15 pass through ankle-joint connecting shaft 156 and foot's axle sleeve
159 are connected with calf module 14, are connected by connecting shaft 23c under energy-storage module and energy-storage module axle sleeve 23d with energy-storage module 23,
And be connected by forefoot connecting rod 152, rear feet connecting rod 154 with foot bottom plate 153；Wherein ankle-joint controllable damper 151 is pacified
Loaded in ankle-joint connecting shaft 156, being provided with foot's adjustable plate 155, sole rubber spring 157 on foot's bottom plate 153, and pass through
Bandage is installed in foot's bandage connecting hole 158 to be connected with human foot.Knapsack module 21 passes through knapsack hack lever with rear link 22
Connecting shaft 217 is connected with knapsack module axle sleeve 219, and 221 are connected realization with rear link 222 by mounting hole in rear link
Adjustable length (referring to Fig. 1,2,3).
Energy-storage module 23 in the rear portion side chain 2 is innovative design module of the present invention.It includes connecting on energy-storage module
Axle 231, cylinder upper connecting rod 232 is led, cylinder lower link 233 is led, leads cylinder upper end cover 234, controllable linear damper 235, long spring stop
236th, under long spring 237, short spring stop 238, short spring 239, short spring guide 23a, short spring block 23b, energy-storage module
Connecting shaft 23c and energy-storage module axle sleeve 23d.
It is described to lead cylinder upper connecting rod 232 and coordinated with leading cylinder lower link 233 by leading cylinder upper end cover 234 with leading cylinder upper connecting rod 232,
Constitute prismatic pair；Lead cylinder upper end cover 234 and be connected with leading cylinder lower link 233, lead the end of cylinder upper connecting rod 232 and long spring stop is installed
236, lead and long spring 237 is installed in cylinder lower link 233, the long spring is stage clip or straight line cylinder, and its rigidity is in 0.05-
Between 0.1kgf/mm, the long diameter of spring 237 is more than short spring, is installed on and leads at cylinder lower link inwall；The short spring is stage clip
Or straight line cylinder, the rigidity of short spring bullet 239 is between 0.2-0.5kgf/mm, short spring guide 23a upper ends and short spring stop
Short spring block 23b is installed in 238 connections, lower end, short spring guide 23a from center through short spring 239 until short spring 239 and
Short spring stop 238 is contacted, and is integrally nested in the long inside of spring 237 and installed in leading in cylinder lower link 233, is passed through short spring catch
Block 23b and lead cylinder lower link 233 and coordinate and be embodied as short spring 239 and apply the purpose of pretightning force (the pretightning force size of embodiment exists
The 15-50% of BW), this design can play the effect of quick increase energy-storage module energy storage speed in body gait.Can
Control linear damper 235, which is installed on, leads on cylinder lower link 233, coordinates with leading cylinder upper connecting rod 232, can pass through damping controller 213
Control the locked and open mode of controllable linear damper 235.Wherein on energy-storage module under connecting shaft and rear link, knee joint
Back link is connected, and connecting shaft is connected (referring to Fig. 4) by energy-storage module axle sleeve with rear feet connecting rod under energy-storage module.
Ectoskeleton of the present invention uses closed chain ectoskeleton structure design, and intermediate symmetry machine is designed as according to human body actual conditions
Structure, and ectoskeleton of the present invention has 8 frees degree；Including waist rotary freedom a, (left and right waist has free degree) , Kua portions
The free degree b , You Kua free degree c1 , Zuo Kua frees degree c2, right knee free degree d1, left knee free degree d2 are swung laterally, right ankle is free
Spend e1 and left ankle free degree e2.
Inventor analyzes human body walking status discovery, and energy-storage module 23 is when body gait starts, to human synovial torque
Reduce effect smaller, but the influence original gait of human body.Therefore it is the variation rigidity bullet with pretightning force that the present invention, which designs the energy-storage module,
Spring.In other words, energy-storage module is the variation rigidity energy-storage module with pretightning force, mainly by spring guiding mechanism, spring pre-tightening machine
Structure, variable rate spring and controllable linear damper composition.Energy-storage module structure noted earlier is the variation rigidity with pretightning force
Spring concrete structure.It the advantage is that adaptation body gait, and joint torque is born during can effectively reducing human body walking with load
Carry.
Ectoskeleton of the present invention is connected (ginseng by knapsack straps, thigh bandage, shank bandage with foot's bandage with human body wearing
See Fig. 5).During human body walking with load, torque is provided by human body, BW can be conducted to ground by ectoskeleton
Face, and energy storage and exoergic are realized by energy-storage module 23.Experiment shows, when 40kg is loaded, and can reduce the total joint of human body and be averaged
Torque 11.9%.With reference to damping of the body gait by predefined each joint controllable damper of gait control, people is further reduced
Body walking joint torque more than 5%.Under human body heavy burden standing state, controllable straight line is controlled to damp by damping controller 213
Device 235 is locked, and human body can be made to be realized in the case where ankle-joint provides small torque and stood.Experiment shows, in 40kg load conditions
Under, ankle-joint torque is not dress the 16.95% of ectoskeleton model of human ankle torque.
The operation principle and process of ectoskeleton of the present invention be：The reason for human-body biological energy utilization rate is high is that human body is expert at and passed by
Cheng Zhong, contraction of muscle can lay in the energy that human body is slatterned, and discharge the energy of storage when human body next step is acted
Come, reduce load --- the human body accumulation of energy strategy of human muscle.By using for reference human body accumulation of energy strategy, the design ectoskeleton is with storage
Energy module 23, and body gait is combined, analysis human body is in the case of load walking, and bone stress and joint torque situation are found
Energy-storage module 23 reduces human synovial torque unobvious but big on body gait influence in the case of applying power is less；In order to
Excessively influence human body walking comfort level and effectively storage knapsack gravitional force, should not design spring rate mistake in energy-storage module 23
Greatly, spring in energy-storage module 23 should be designed to become big in body gait mid-term rigidity and carry pretightning force.Therefore the energy-storage module 23 is set
The variable rate spring with pretightning force is calculated as, wherein adjusting the stress of energy-storage module 23 by changing spring rate, applies pre-
Clamp force is used to quickly increase the force size of energy-storage module 23, by adjusting the controllable damping of Yao, Kua, SCID Mice, further
Reduce each joint institute torque suspension of human body in walking.There is provided in human body under each joint torque state of ectoskeleton, BW can pass through
Ectoskeleton is conducted to ground, reduces skeleton stress.Its principle use for reference skid platform, porter when transporting goods,
Using the gravity of trolley bearing goods, and trolley is promoted only to need to overcome wheel and the resistance on ground when moving, so that greatly
Alleviate carrying intensity greatly.
Ectoskeleton of the present invention has the prominent advantages that, the ectoskeleton is closed chain mechanism, large carrying capacity, simple in construction, steady
It is fixed controllable, including bionic energy-storage element and controllable damper.In the case of without external drive simultaneously, you can normally use, and subtract
Few skeleton stress and each joint loads torque.Experiment shows, when 40kg is loaded, the weight of knapsack 60% can be passed through into dermoskeleton
Bone is conducted to ground, reduces human body walking load torque 11.9%；When 20kg is loaded, then the weight of knapsack 90% can be passed through outer
Human body walking load torque 13.4% is greatly reduced to ground in bone conduction；And it is big, suitable with light weight, small volume, carrying
Answer body gait, the features such as cruising time is long.
The present invention does not address part and is applied to prior art.
Claims (3)
1. one kind auxiliary heavy burden human body lower limbs ectoskeleton, it is characterised in that symmetrical structure centered on the ectoskeleton, and per side by preceding
Portion's side chain and rear portion side chain two large divisions composition, the anterior side chain include Yao Ji Kua joint modules, knee joint module, thigh mould
Block, calf module, ankle-joint and foot's module；Yao is Ji Kua joint modules lower end Tong Guo Kua legs revolute pairs connect with thigh module upper end
Connect, thigh module lower end is connected by thigh and calf revolute pair and leg knee revolute pair with calf module upper end and knee joint module front end
Connect, calf module lower end is connected by leg ankle revolute pair with ankle-joint and foot's module；
The rear portion side chain includes knapsack module, rear link and energy-storage module；Rear link upper end leads to knapsack module rear end
Later revolute pair is connected on connecting rod, and rear portion side chain lower end and energy-storage module upper end and knee joint module rear end pass through lower turn of back link
Revolute pair connection on dynamic secondary and energy-storage module；The knapsack that ectoskeleton left-half and right half part pass through respective knapsack end of module
Revolute pair is connected, and ectoskeleton unilateral anterior side chain upper end and rear portion side chain upper end pass through knapsack hack lever front end, waist joint connecting shaft
It is connected with waist joint revolute pair, the unilateral anterior side chain of ectoskeleton and rear portion side chain lower end pass through connecting shaft, the rear foot under energy-storage module
Portion's connecting rod is connected with revolute pair under energy-storage module；
The energy-storage module include connecting shaft on energy-storage module, lead cylinder upper connecting rod, lead cylinder lower link, lead cylinder upper end cover, it is controllable straight
Under wire damper, long spring stop, long spring, short spring stop, short spring, short spring guide, short spring block, energy-storage module
Connecting shaft and energy-storage module axle sleeve；It is described to lead cylinder upper connecting rod and matched somebody with somebody with leading cylinder lower link by leading cylinder upper end cover with leading cylinder upper connecting rod
Close, constitute prismatic pair；Lead cylinder upper end cover and be connected with leading cylinder lower link, lead cylinder upper connecting rod end and long spring stop is installed, lead under cylinder
Long spring is installed, long spring diameter is installed on more than short spring and led at cylinder lower link inwall in connecting rod；Short spring guide upper end with
Short spring block is installed in short spring stop connection, lower end, and short spring guide is from center through short spring up to short spring and short bullet
Spring baffle plate is contacted, and is integrally nested in long spring inner and installed in leading in cylinder lower link, is connected by short spring block with leading under cylinder
Bar, which coordinates, is embodied as the purpose that short spring applies pretightning force, and this design can play quick increase energy-storage module storage in body gait
The effect of Energy velocity；Controllable linear damper, which is installed on, leads in cylinder lower link, coordinates with leading cylinder upper connecting rod, passes through damping controller
Control the locked and open mode of controllable linear damper；On energy-storage module under connecting shaft and rear link, knee joint back link
Connecting shaft is connected by energy-storage module axle sleeve with rear feet connecting rod under connection, energy-storage module.
2. it is according to claim 1 auxiliary heavy burden human body lower limbs ectoskeleton, it is characterised in that the long spring be stage clip or
Straight line cylinder, stage clip length 140mm-170mm, diameter 40mm-50mm, rigidity is 0.05-0.1kgf/mm；The short spring is
Stage clip or straight line cylinder, stage clip length 100mm-130mm, diameter 25mm-35mm, rigidity is 0.2-0.5kgf/mm.
3. auxiliary heavy burden human body lower limbs ectoskeleton according to claim 1, it is characterised in that the pretightning force is knapsack weight
The 15-50% of amount.
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| CN201610385317.0A CN105798893B (en) | 2016-06-03 | 2016-06-03 | One kind auxiliary heavy burden human body lower limbs ectoskeleton |
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| CN201610385317.0A CN105798893B (en) | 2016-06-03 | 2016-06-03 | One kind auxiliary heavy burden human body lower limbs ectoskeleton |
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| CN109927016B (en) * | 2019-04-15 | 2023-11-28 | 河北工业大学 | Lower limb exoskeleton with variable axis knee joint |
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| CN101786478B (en) * | 2010-02-23 | 2011-09-07 | 华东理工大学 | Fictitious force-controlled lower limb exoskeleton robot with counter torque structure |
| CN102499859B (en) * | 2011-11-08 | 2014-04-16 | 上海交通大学 | Lower limb exoskeleton walking rehabilitation robot |
| CN202381518U (en) * | 2011-12-19 | 2012-08-15 | 姚衍兴 | Restoration joint |
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| CN203979230U (en) * | 2014-07-23 | 2014-12-03 | 温州合力弹簧制造有限公司 | Spring |
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| CN105030487B (en) * | 2015-09-10 | 2017-01-25 | 哈尔滨工业大学 | Bionic flexible wearable lower limb exoskeleton clothes driven by pneumatic artificial muscle |
| CN105171770B (en) * | 2015-10-30 | 2017-03-22 | 四川大学 | Machine safety variable-rigidity elastic joint |
| CN205660711U (en) * | 2016-06-03 | 2016-10-26 | 河北工业大学 | Supplementary heavy burden lower limbs of human body ectoskeleton |
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