CN106109181A

CN106109181A - A kind of reset ectoskeleton joint and ectoskeleton power assisting device thereof

Info

Publication number: CN106109181A
Application number: CN201610281597.0A
Authority: CN
Inventors: 袁博; 姜峰; 江敏; 李佳克; 孙梓瑜
Original assignee: Individual
Current assignee: Chongqing Niu Di Technology Development Co Ltd
Priority date: 2016-05-03
Filing date: 2016-05-03
Publication date: 2016-11-16
Anticipated expiration: 2036-05-03
Also published as: CN106109181B

Abstract

The present invention provides a kind of reset ectoskeleton joint, including the first limbs being rotationally connected and the second limbs, also include the resetting-mechanism being arranged between the first limbs and the second limbs, this resetting-mechanism provides restoring force when the first limbs and the second limbs are close to erectility, joint is promoted to recover erectility, state of being kept upright in the case of joint is not affected by notable torque.Wherein resetting-mechanism can use magnetic attractive elements or voussoir wedge groove structure, also includes spring energy storage mechanism, discharges elastic force and power-assisted during the first limbs and the second limbs stretch.Spring energy storage mechanism is torsion spring, extension spring, stage clip or gas push rod, is provided with, between described first limbs and the second limbs, the position-limit mechanism limiting its rotational angle.Present configuration is simple, mechanically realizes power-assisted, and be capable of passively bending to the reset in active straightening procedure under conditions of not consuming the external energy.

Description

A kind of reset ectoskeleton joint and ectoskeleton power assisting device thereof

Technical field

The invention belongs to robot wearable device technical field, be specifically related to a kind of reset ectoskeleton joint and ectoskeleton thereof Power assisting device.

Background technology

Exoskeleton robot is that one may be worn on outside human body, and according to human motion attitude or human brain idea, Extra power or portable energy source is used to carry out mechanically aided active mechanical system.This military field that is equipped in is permissible Make soldier carry more weaponry, strengthen the motor capacity of soldier, be effectively improved the fight capability of individual soldier；At civilian neck Territory, can be widely applied to mountain-climbing, tourism, fire-fighting, the disaster relief etc. needs to bear heavy goods and materials, and the feelings that vehicle is impassable Condition；At medical field, exoskeleton robot can be also used for assisting people with disability, old people's walking, it is also possible to helps transitory loss The patient of motor capacity carries out functional recovery training.Therefore, there is the most wide application prospect.About active ectoskeleton machine People, the most famous Hulc lower limb exoskeleton robot including american lockheed LMT and Raytheon Sarcos The Xos2 whole body exoskeleton robot of company.

The active exoskeleton robot of above-mentioned introduction can be remarkably reinforced function of human body really, but its drawback is also apparent from: Device needs to rely on a large amount of high-precision sensor and controls computer realization actively control, therefore system complex, fault rate height；Complicated Frame for movement and high-precision components and parts force device development with high costs, limit ectoskeleton machinery universal use；And And need the extra powers such as battery to provide power, the most seriously constrain its course continuation mileage.

To this end, passive type ectoskeleton more popularizes meaning.So-called passive type ectoskeleton refers to do not have extra power to provide volume The ectoskeleton machinery of outer power, this passive type ectoskeleton is studied less at present.The Fortis that Lockheed Martin Corporation releases Lower limb exoskeleton belongs to passive type ectoskeleton.This device does not has energy input and the engine of outside, and Main Function is to dress Gravity is reached ground by each linkage by the instrument that person holds.Therefore, Plant personnel can be grown with the help of Fortis Time carries heavy type electric or pneumatic tool carries out main equipment processing.But this device is used primarily in what wearer stood still In the case of, and do not take into account the long-distance walking with load of wearer, and the problem that human body overcomes heavy burden potential energy to do work during climbing, Therefore each movable joint of Fortis is all provided without any reset and servomechanism.

If but want to use passive type ectoskeleton auxiliary wearer distance walking with load out of doors, then movable joint needs very much Reset and assist function.The most ectoskeletal knee joint, needs could utilize in an erect condition the dead point of rod hinge connection Principle, reaches ground efficiently by the gravity of heavy burden.But wearer is in the process of walking, knee joint is in bending all the time and stretches In straight alternate cycles, and in random time, only unilateral knee joint is stretched, and now the limbs of side, place are just human body and heavy burden Supporting leg.Bear a heavy burden to ectoskeleton auxiliary human body, then need ectoskeletal knee joint can stretch with the knee joint of side, human body place Time, also can recover rapidly erectility.And there is no the passive type ectoskeleton knee joint of reset function, when it tends to straight configuration Time, it is impossible to enough automatically reset, it is necessary to operator's the most exceptionally straight leg joint could reset, and this will significantly affect human body walking Gait and the efficiency of ectoskeleton load-bearing.

On the other hand, when human body is during wearing passive type ectoskeleton bears a heavy burden and climbs, if ectoskeletal movable joint, If particularly not having extra power-assisted at knee joint, human body then needs the acting by leg muscle to overcome the gravitational potential of heavy burden Energy.When the gravity born a heavy burden persistently exerts oneself scope beyond human muscle, will substantially aggravate the fatigue rate of human muscle.Therefore do not have There is the passive type ectoskeleton joint of extra power-assisted, also will substantially reduce effect of passive type ectoskeleton auxiliary human body walking with load.

Summary of the invention

The deficiencies in the prior art in view of the above, it is an object of the invention to provide a kind of reset ectoskeleton joint, energy Enough realize automatically reseting of joint.

For achieving the above object and other relevant purposes, technical solution of the present invention is as follows:

A kind of reset ectoskeleton joint, including the first limbs and the second limbs, passes through between the first limbs and the second limbs Articulation connects, and also includes the resetting-mechanism being arranged between the first limbs and the second limbs and prevents joint counter-rotational Position limiting structure, this resetting-mechanism provides restoring force, promotes joint to recover when the first limbs and the second limbs are close to erectility Erectility, state of being kept upright in the case of joint is not affected by notable torque.

Using said structure, ectoskeleton joint can produce restoring force under connecing suberect state, promote ectoskeleton joint Recover erectility, make joint when close to erectility, it is possible to achieve the self-locking of certain dynamics, it is ensured that joint can be efficient Load；Other energy supply mechanisms such as power supply need not be carried again, enormously simplify structure, actively be stretched without operator's moving foot Directly, easy to operate.

Further, described resetting-mechanism includes the Magnet being arranged on the first limbs and be arranged on can on the second limbs When the magnetic-attraction element attracted mutually with Magnet, Magnet and magnetic-attraction element are drawn close, the first limbs and the second limbs are in straight configuration.Inhale Drawing element can be metal or the Magnet such as iron and steel.Have automatically reset, upright self-locking, can use two blocks as position limiting structure, Offset when recovering upright, it is achieved prevent rotating backward of joint.

Further, described resetting-mechanism is realized by voussoir wedge groove mechanism and hold-down mechanism, and voussoir is permissible with the direction of wedge groove Parallel with joint rotational axis, it is also possible to be arranged in the Normal plane of joint rotational axis, the number of voussoir and wedge groove can be 1-3 Individual, and it is evenly arranged along rotary shaft tangent line.As hold-down mechanism and voussoir being arranged on the ball and socket joint of the second limbs, Then arranging the wedge groove of correspondence on the ball and socket joint of the first limbs, in rotation process, hold-down mechanism makes joining of voussoir and wedge groove Conjunction face is held against, so that the first limbs and the second limbs rotate and reset towards tending to upright direction.Voussoir wedge groove Mechanism is due to only unilateral inclined-plane, and another side is vertical surface, therefore voussoir can only unidirectional slip in wedge groove, opposite side only can make The vertical surface of voussoir and wedge groove is collided, so make between the first limbs and the second limbs can only forward bending and can not be the most curved Bent, it is achieved spacing.

Further, the spring energy storage mechanism being arranged between the first limbs and the second limbs, this spring energy storage machine are also included Structure accumulation of energy when the first limbs and the second limbs passively bend, discharges elastic force during the first limbs and the second limbs stretch And power-assisted.

Using said structure, ectoskeleton joint, can be in spring energy storage mechanism pretightning force not only when close to erectility Reply erectility under effect, it is also possible to when joint significantly bends, done work passive type accumulation of energy by human muscle, and closing Discharging elastic potential energy in joint stretching process, auxiliary human body bears a heavy burden and climbs.Although from physics's angle, the total work that human body is dissipated Do not reduce, but due to reduce human body bear a heavy burden climb during the peak load of muscle, it is to avoid the fatigue of muscle, So from angle of physiology, passive type assistance exoskeleton can reduce the physical consumption of human body, plays the effect of power-assisted.Can not only Reset, moreover it is possible to accumulation of energy and power-assisted.

Further, described spring energy storage mechanism is torsion spring, and described torsion spring is arranged on joint, and one end is against the first limb On body, the other end is against on the second limbs.

Further, it is provided with, between described first limbs and the second limbs, the position-limit mechanism limiting its rotational angle.

Described position-limit mechanism can be to be separately positioned on the chute on the first limbs and the second limbs and slide block, and both are joining Cooperation rotates in the range of special angle with the lower position limitation ectoskeleton joint by chute two ends.Concrete angular range should Adapt with the rotation amplitude of human body corresponding joint.Particularly for human body knee joint, rotation amplitude is usually 0-135 °, wherein 0 ° refers to when thigh and shank are in erectility, and therefore corresponding its rotation amplitude of ectoskeleton knee joint should be 0-135 °, especially It is need position-limit mechanism to avoid knee joint to occur negative angle rotates, i.e. bend forward, and then avoid human body knee joint injured.

Further, described spring energy storage mechanism is extension spring, stage clip or gas push rod, and described spring energy storage mechanism one end is fixed on On first limbs, the other end is connected with the second limbs by bracing wire, described in be drawstring through the bracing wire hole of the first limbs joint head, press In bracing wire groove on the second limbs joint head, the ball and socket joint of described second limbs is actually to fix with the second limbs and is connected Deng radius pulleys.The bracing wire groove end of the second limbs joint head has bracing wire hole, is drawstring through the bracing wire hole of the second limbs, and uses Bracing wire is locked by bracing wire termination.When ectoskeleton arthrogryposis, the ball and socket joint of the second limbs rotates, and makes bullet by elongating bracing wire Property accumulating mechanism stress and accumulation of energy；When ectoskeleton joint is stretched, spring energy storage mechanism is by withdrawal bracing wire, its pulling force produced The radius being had with the pulley of the second limbs joint head together decides on rotatory force produced by the external skeletal joint of servomechanism Square.Further, described spring energy storage mechanism is extension spring, stage clip or gas push rod, and described spring energy storage mechanism the first end is fixed on On one limbs, being provided with pulley on the ball and socket joint of the second limbs, described bracing wire one end is fixed on the first limbs, bracing wire another End is walked around pulley and is connected with the second end of spring energy storage mechanism.

That is, bracing wire being walked around pulley, two ends are separately fixed on the first limbs and in spring energy storage mechanism, when the first limbs When relatively rotating with the second limbs, pulley, relative to the first limb motion, makes bracing wire pull accumulating mechanism stress.The cunning of this device Wheel is a kind of movable pulley mechanism, and the degree of power assistance that therefore can make spring energy storage mechanism is double.Stage clip, extension spring in same stiffness Or under the gas push rod effect of same pressure and sectional area, have the device power-assisted effect ratio of movable pulley mechanism there is no movable pulley machine The device degree of power assistance of structure is twice.As want in the case of using identical spring energy storage mechanism, produce more great Cheng further The power-assisted effect of degree, then need to use multistage movable pulley mechanism, and the spring energy storage stroke of spring energy storage mechanism also can be at double simultaneously Increase.

Further, described first limbs or the eccentric wheel structure that ball and socket joint is radius change of the second limbs.Realize dermoskeleton Bone joint uprightly resets, angle and curved time trace power-assisted, wide-angle bending time obvious power-assisted function.

Assume that the outline radius of eccentric is determined by R (α) with the change curve of bent angle alpha, spring energy storage mechanism Rigidity is k, then under any angle of bend, the differential form of the power torque that ectoskeleton joint is subject to is dT=k R²(α)dα。 Therefore, when there is the ectoskeleton joint of eccentric wheel structure by erectility to any angle of bend θ, the power torque that joint is subject to ForIt will be seen that be no matter growth rate dT of power torque, or total value T of power torque, all To square being directly proportional of eccentric radius.

When its reason is ectoskeleton articulation, described bracing wire is pressed on eccentric, the tensile elongation of bracing wire and eccentric All footpaths equal, all footpaths of eccentric then by joint flexion angle and herein eccentric radius determine, thus like pass Under bent-segment angle, eccentric radius is the biggest, then bracing wire tensile elongation is the biggest, and then the deformation degree of spring energy storage mechanism is more Greatly；The power torque size in joint is total to by spring energy storage mechanism by spring energy storage mechanism deformation power size and eccentric radius simultaneously With determining, under identical deformation power, the biggest eccentric radius, its power torque produced is the biggest.Utilize the above-mentioned of eccentric Characteristic, even with linear elasticity accumulating mechanism, it is possible to produce nonlinear power-assisted effect.

When the effect of described non-linear power-assisted is human body walking with load, the situation usually heavy burden needing most power-assisted is climbed In the stage, now the knee joint of human body and the angle of bend of hip joint are the biggest.And human body is when level road walking with load, the knee joint of human body The angle of bend of joint and hip joint is the least, and each joint need not too much power-assisted.More power-assisted means on the contrary Human body needs to carry out flexible member more accumulation of energy, and then affects the normal gait of human body walking.Utilize eccentric mechanism, just Power-assisted joint power-assisted low effort when angle and curved, the non-thread that power-assisted effect is remarkably reinforced when wide-angle bends can be realized Property power-assisted effect.

Further, the contour curve of described eccentric can be by different two concentric circulars of radius, and smooth between two circles Easement curve combines.When joint is in erectility, bracing wire is pressed on the outline of minor radius circle；Until the bending in joint Angle reachesAfter, bracing wire is pressed in described in transition on the smoothed curve between two concentric circulars；Continuing bending joint, bracing wire will bear against greatly On the outline of radius circle.Using the eccentric of described combination concentric circular profile, ectoskeleton joint has obvious two-part and helps Power effect.It is less than at angle of bendTime, ectoskeleton joint assistance low effort, the spring energy storage mechanism in joint is straight except having Vertical reset response, substantially without joint carries out obvious power-assisted, also will not produce body gait and significantly affect；Work as arthrogryposis Angle is more thanAfter, ectoskeleton joint assistance effect is obvious, and the bending further in joint needs human body acting to realize elastic machine The accumulation of energy of structure, and then spring energy storage mechanism can be that joint provides extra power torque when joint is stretched.

Further, the contour curve of described eccentric can also use involute in form.The eccentric in ectoskeleton joint exists Under erectility, the eccentric profile that described bracing wire is pushed down has least radius；Along with the increase of angle of bend, bracing wire is pressed The eccentric profile radius lived becomes involute in form to be gradually increased with angle of bend.The eccentric of described involute in form, does not has Significantly stagewise power-assisted effect, but the same power-assisted low effort when joint angle and curved, help when angle of bend is bigger Power effect is gradually obvious, and persistently strengthens.

The contour curve of described eccentric can also be other multiple gradient ramp form, and its non-linear power-assisted effect is permissible By formulaIt is predicted.

Further, when described extension spring, stage clip use nonlinear spring to do accumulating mechanism, can be regulated by spring pre-tightening Device；When using gases at high pressure to do accumulating mechanism, by changing initial gas pressure, thus power-assisted in various degree can be realized and adjusts Joint.Described power-assisted regulation in various degree, in the case of referring to bear heavy burden in various degree for wearer, passive type ectoskeleton The power-assisted size in joint can be adjusted accordingly.Its effect is when wearer is born and gentlier born a heavy burden, and can use less Power-assisted effect, so in walking every time rhaeboscelia time less to the accumulation of energy degree of servomechanism, contribute to wearer and easily walk； And when wearer bears heavier heavy burden, then can use bigger power-assisted effect, although wear during rhaeboscelia of so every time walking Wearer needs bigger power that elastic mechanism carries out accumulation of energy, but the degree of power assistance that during straight legs, spring energy storage device provides is the most relatively Greatly, such wearer is bearing ability effectively power-assisted during heavier heavy burden is climbed.

Described nonlinear spring refers to there is different spring pitch, spring diameter or spring wire footpaths in single spring not Rule spring.The elastic stiffness of this nonlinear spring constantly increases along with the increase of deformation degree, therefore its elastic force Change curve becomes non-linear.Described spring pre-tightening adjusting means, changes at the beginning of spring by changing the position of spring supporting end Beginning deformation extent, and then change initial tension of spring.For torsion spring structure, spring supporting end can be the first limbs or the second limbs Spring mounting groove；For stage clip structure, spring supporting end is the spring terminal near ectoskeleton joint；For extension spring structure, spring Support end is the spring terminal away from ectoskeleton joint.

Further, described spring pre-tightening adjusting means can be tenon sliding groove structure, and tenon connects spring supporting end, it is possible to Chute moves.The fluting direction of chute is identical with the deformation direction of spring, i.e. for torsion spring then along ectoskeleton joint Direction of rotation；Then along its compression or draw direction for stage clip or extension spring, due to stage clip and extension spring generally concentric to placement In connecting rod, therefore chute direction and connecting rod is the most identical.Having some grades of gears on chute and fix groove, tenon passes through Corresponding gear can be snapped in when slide is to arbitrary number of level gear to fix in groove, and in the case of there is no artificial active force, Tenon, without departing from fixing groove, the most just achieves the spring pre-tightening adjusting means with different gear.

Further, for stage clip or extension spring structure, described spring pre-tightening adjusting means can also be real by screw slider structure Existing.Slide block is spring supporting end, its axial centre perforate, and has the silk mouth coordinated with leading screw, has outside spring supporting end Spline, matches with the keyway inside connecting rod, it is ensured that it can only be along the axial linear movement of connecting rod, without with leading screw altogether With rotating.Leading screw and spring are coaxially mounted in connecting rod, and there are bevel gear or worm gear arrangement in one end of leading screw, can be with the company of being perpendicular to The pretightning force of extension bar adjusts the bevel gear on knob or worm structure matches, the leading screw other end then with the silk mouth of spring supporting seat Match.When pretightning force adjusts knob band dynamic bevel gear or worm screw rotates, leading screw can be driven to rotate, and then drive spring to prop up Support seat moves along spring-compressed or lax direction, plays the effect adjusting initial tension of spring.

Present invention simultaneously provides a kind of ectoskeleton power assisting device, including above-mentioned a kind of passive type assistance exoskeleton joint, Described first limbs are thigh skeleton, and the second limbs are Leg bones, and described Leg bones lower end connects flexible heel brace, described Thigh skeleton upper end is connected by oscillating bearing with waist connecting rod, has three rotary freedoms, realizes hip joint respectively Bend and stretch, side-sway and rotary motion.Certainly other existing structures etc. are also included.

As it has been described above, the invention has the beneficial effects as follows: this device uses passive type accumulating mechanism to carry out power-assisted, the most relatively For existing all hydraulic formula, vapour-pressure type, electric motor type actively power-assisted technology, more simple and reliable and with low cost, it is achieved light weight Change.

This device realizes joint limit function except using chute slide block mechanism, it would however also be possible to employ magnetic mechanism or wedge Groove mechanism realizes the upright of joint and resets and auto-lock function, moreover it is possible to use the accumulating mechanism such as spring or gas push rod, it is achieved joint Passive type power-assisted.Further, eccentric mechanism is used to realize the non-linear power-assisted under differently curved angle, by spring pre-tightening or gas The pressure controlled mode of cylinder realizes the dynamics regulation of servomechanism.

Accompanying drawing explanation

Fig. 1 is the exploded perspective view using magnetic resetting mechanism in embodiment 1；

Fig. 2 is the installation sectional view of Fig. 1；

Fig. 3 is the exploded perspective view using cotter mechanism radial compaction to reset in embodiment 2；

Fig. 4 is the installation sectional view of Fig. 3；

Fig. 5 is the exploded perspective view using cotter mechanism axial compression to reset in embodiment 3；

Fig. 6 is the exploded perspective view of embodiment 3 opposite side；

Fig. 7 is the cross-sectional schematic of embodiment 3；

Fig. 8, Fig. 9 are to use torsion spring as the explosive view of accumulating mechanism in embodiment 4；

Figure 10 is to use stage clip as the explosive view of spring energy storage mechanism in embodiment 5；

Figure 11 is the sectional view of Figure 10；

Figure 12 is to use extension spring as the explosive view of spring energy storage mechanism in embodiment 5；

Figure 13 is the sectional view of Figure 12；

Figure 14 is to use gas push rod as the explosive view of spring energy storage mechanism in embodiment 5；

Figure 15 is the sectional view of Figure 14；

Figure 16 is to use eccentric wheel structure and the explosive view of position-limit mechanism in embodiment 6；

Figure 17 is to react limited impression and the structural representation of spacing block set in Figure 16；

Figure 18 is the sectional view of Figure 16.

Figure 19 is to use involute eccentric wheel structure and the explosive view of position-limit mechanism in embodiment 6；

Figure 20 is the sectional view of Figure 19；

Figure 21 is to react limited impression and the structural representation of spacing block set in Figure 19；

Figure 22 is to use movable pulley and the explosive view of guy structure in embodiment 7；

Figure 23 is the sectional view of Figure 22；

When Figure 24 is that in embodiment 8, torsion spring is as spring energy storage mechanism, use tenon mechanism as pre-tightening force adjusting device Explosive view；

Figure 25 is the installation diagram of Figure 24；

When Figure 26 is that in embodiment 8, stage clip is as spring energy storage mechanism, use tenon mechanism as pre-tightening force adjusting device Schematic diagram；

When Figure 27 is that in embodiment 8, stage clip is as spring energy storage mechanism, leading screw and worm and gear is used to adjust as pretightning force The schematic diagram of regulating device；

Figure 28 is the internal structure sectional view of Figure 27；

Figure 29 is that in embodiment 8, torsion spring uses leading screw and bevel gear pair as the schematic diagram of pre-tightening force adjusting device；

Figure 30 is the structural representation of ectoskeleton power assisting device in embodiment 9；

Figure 31 is the structural representation that embodiment 9 Elastic accumulating mechanism is arranged on Leg bones；

Figure 32 is the structural representation that embodiment 9 Elastic accumulating mechanism is arranged on waist connecting rod；

Figure 33 is the explosive view of hip joint in embodiment 9；

Figure 34 is the sectional view of Figure 33；

When Figure 35 is for radius pulleys and the eccentric such as being respectively adopted as ball and socket joint, the power-assisted curve that experiment records.

Piece mark explanation

1 first limbs

11 ball and socket joints

12 Magnet

13 blocks

14 connecting rods

15 installing ports

16 tension spring pins

17 inflate hole

18 stopper slots

19 bracing wire holes

2 second limbs

21 ball and socket joints

22 magnetic-attraction element

23 blocks

24 movable pulleys

25 bracing wire grooves

26 support shafts

27 limited blocks

28 connecting holes

31 springs

32 voussoirs

33 wedge grooves

34 glands

35 voussoir dishes

36 boss

40 splines

41 torsion springs

42 adjusting knobs

43 regulating tanks

44 fix groove

45 bracing wires

46 tenons

47 stage clips

48 briquettings

49 support seat

50 keyways

51 worm screws

52 worm gears

53 leading screws

54 knobs

55 bevel gear pairs

56 extension springs

57 draw rings

58 gas push rods

59 pistons

61 thigh skeletons

62 Leg bones

63 elastic heel braces

64 waist connecting rods

65 hip joints

66 big leg joint terminations

67 termination, waist joints

68 oscillating bearings

69 knapsack bracing frames

71 bearings

72 bolts

73 nuts

74 pads

75 axle sleeves

Detailed description of the invention

By particular specific embodiment, embodiments of the present invention being described below, those skilled in the art can be by this explanation Content disclosed by book understands other advantages and effect of the present invention easily.

Embodiment 1

As depicted in figs. 1 and 2, a kind of reset ectoskeleton joint, including the first limbs 1 and the second limbs 2, with knee joint in this example Illustrate as a example by joint, wherein the corresponding upper joint of the first limbs 1, the corresponding hypozygal of the second limbs 2, the first limbs 1 and second The ball and socket joint 11,21 of limbs 2 is rotationally connected, in order to make the first limbs 1 and the second limbs 2 by bearing 71, bolt 72, nut 73 When tending to upright, it is possible to quickly reset, this example is provided with resetting-mechanism between the first limbs 1 and the second limbs 2.This Example uses attraction mechanism reset, the i.e. first limbs 1 arrange Magnet 12, the second limbs 2 are provided with and magnetic The magnetic-attraction element 22 that ferrum 12 attracts each other carries out adhesive, and magnetic-attraction element 22 can be steel column, iron prop or Magnet.Magnet 12 and attraction unit In the mounting groove that part 22 is arranged on the first limbs 1 and the second limbs 2 are offered.In order to prevent joint from rotating backward, the first limbs 1 Being oppositely disposed block 13,23 with the second limbs 2, offseted when turning to erectility, in this example, mounting groove is also opened in On block 13,23 so that Magnet 12 can be relative with magnetic-attraction element 22, and close.

Embodiment 2

As shown in Figure 3 and Figure 4, in this example, the ball and socket joint 11,21 of the first limbs 1 and the second limbs 2 passes through bearing 71, bolt 72, nut 73 is rotationally connected, in order to make the first limbs 1 and the second limbs 2 when tending to upright, it is possible to quickly reset, and this example In between the first limbs 1 and the second limbs 2, be provided with resetting-mechanism, it includes the spring 31, Yi Jixiang as hold-down mechanism The voussoir 32 coordinated and wedge groove 33, spring 31 applies elastic force from the radial direction in joint to voussoir 32, and wherein spring 31 is mounted vertically in In the groove that second limbs 2 are offered, wedge groove 33 is opened in the outer extended surface of ball and socket joint 11 arc of the first limbs 1, and voussoir 32 is positioned at bullet Above spring 31, it is pressed in wedge groove 33, the cooperation face tilted by wedge groove 33 and voussoir 32, vertical pressure is converted into wedge The active force that groove 33 is tangential so that joint can automatically reset when tending to upright.The side that wherein voussoir 32 is higher and wedge groove 33 sidewalls offset, and prevent joint from inverting.

Embodiment 3

The mode being also adopted by inclined-plane cooperation in this example resets, as different from Example 2, and the force side of hold-down mechanism To with joint axis parallel.As shown in Figures 5 to 7, formed along rotation between the first limbs 1 and the ball and socket joint of the second limbs 2 Turn the angled engagement surface in direction, and make the first limbs 1 and the second limbs 2 compress, curved lateral by tension or hold-down mechanism After song during return, the active force in tension or hold-down mechanism is applied to inclined plane, makes the first limbs 1 and the second limbs 2 Initial position is moved to along inclined plane.

In this example, offer connecting hole, outside the second limbs 2 at the first limbs 1 and the second limbs 2 ball and socket joint 11,21 center Side arranges a voussoir dish 35, passes through spline in a prominent boss 36 stretches into the second limbs 2 connecting hole 28 in the middle part of voussoir dish 35 with it Coordinate with keyway, make the second limbs 2 and voussoir dish 35 can synchronous axial system, spring 31 is enclosed within outside gland 34, the end face of gland 34 Spring 31 one end is compressed by step, and spring 31 other end is against on the extension that the boss 36 of voussoir dish 35 is inside, thus gives wedge Block dish provides axial compressive force, and gland 34 axle center also has connecting hole, and bolt 72 runs through ball and socket joint 11, bearing 71, ball and socket joint 21, wedge Block dish 35 and gland 34, and tighten with nut 73 and coordinate, gland 34 not only acts as preloading spring under the fastening effect of nut 73 The effect of 31, also withstands ball and socket joint 21 simultaneously, laterally will compress, it is ensured that will not in motion between the first limbs 1 and the second limbs 2 Loosen.Wherein being provided with the voussoir 32 of multiple arc on voussoir dish 35 inwall, voussoir 32 side is inclined plane, at the first limbs Offering multiple arc wedge groove 33 corresponding with voussoir 32 on 1 inwall, the bottom land of arc wedge groove 33 is and inclining that voussoir 32 coordinates Inclined-plane.Relatively rotate between voussoir 32 and wedge groove 33 during arthrogryposis, in straightening procedure, under spring 31 acts on so that it is Voussoir 32 resets, thus reaches the effect of Rapid reset.Meanwhile, voussoir 32 and wedge groove 33 cooperation also prevent reversely turning of joint Dynamic.

Embodiment 4

Further, in order to not only realize resetting, also to realize by electric boosting function, and save the actives such as traditional battery Powering device.

As shown in Figure 8, Figure 9, between the first limbs 1 and the second limbs 2, it is provided with spring energy storage mechanism, this spring energy storage Mechanism's accumulation of energy when the first limbs 1 and the second limbs 2 passively bend, the joint formed at the first limbs 1 and the second limbs 2 is stretched During discharge elastic force and power-assisted.In this example, the first limbs 1 lower end ball and socket joint is corresponding with the second limbs 2 upper end ball and socket joint to open Being provided with annular mounting groove, spring energy storage mechanism is chosen as torsion spring 41, and torsion spring is arranged in annular mounting groove, and torsion spring 41 one end is supported On the first limbs 1, the other end is against on the second limbs 2.Being provided with position-limit mechanism to limit its slewing area, it includes out It is located at the stopper slot 18 on the ball and socket joint 11 of the first limbs 1, and is arranged on the limited block 27 on the second limbs 2 ball and socket joint 21, Rotary spacing is realized by the cooperation of limited block 27 and stopper slot 18.

Embodiment 5

In this example, the difference with embodiment 4 is, spring energy storage mechanism is extension spring, stage clip or gas push rod, elastic storage Can mechanism one end be fixed on the first limbs 1, the other end is connected with the second limbs 2 by bracing wire 45, and described bracing wire 45 is pressed in the On the ball and socket joint of one limbs 1 or the second limbs 2, when arthrogryposis, ball and socket joint rotates and passes through bracing wire 45 and makes spring energy storage machine Structure stress and accumulation of energy.

As shown in Figure 10 and Figure 11, spring energy storage mechanism uses stage clip 47, and the first limbs 1 are provided with connecting rod 14, even Be provided with briquetting 48 in extension bar 14, described stage clip 47 between briquetting 48 and the first limbs 1, described bracing wire 45 upper end and briquetting 48 connect, and bracing wire 45 lower end, through the bracing wire hole 19 of the first limbs 1 ball and socket joint 11, is pressed in drawing on the second limbs 2 ball and socket joint 21 In wire casing, actually fixing with the second limbs 2 radius pulleys such as grade being connected of the ball and socket joint 21 of described second limbs 2.Second limb The bracing wire groove end of body 2 ball and socket joint 21 has bracing wire hole 29, and bracing wire 45 is through the bracing wire hole 29 of the second limbs 2, and uses bracing wire end Bracing wire is locked by head.When ectoskeleton arthrogryposis, the ball and socket joint 21 of the second limbs 2 rotates, and makes pressure by elongating bracing wire 45 Spring 47 stress and accumulation of energy；When ectoskeleton joint is stretched, stage clip 47 is by withdrawal bracing wire, its pulling force produced and the second limbs 2 The radius that the pulley of ball and socket joint 21 is had together decides on rotating torque produced by the external skeletal joint of servomechanism.Wherein close Section header 11,21 is rotationally connected by bearing 71, bolt 72, nut 73, pad 74 and axle sleeve 75 etc..Bracing wire 45 can be steel wire or The devices such as drag-line.

As shown in Figure 12 and Figure 13, when using extension spring 56 as spring energy storage mechanism, extension spring 56 upper end hangs over connecting rod On the tension spring pin 16 that 14 laterally wear, lower end is connected with the draw ring 57 of bracing wire 45 upper end, and other structures and stage clip 47 are as elasticity It is similar to during accumulating mechanism.When regulating its initial pretightning force, can realize by changing the height of tension spring pin 16, can refer to stage clip 47 Height adjusting structure be designed, state the most one by one at this.

As shown in Figure 14 and Figure 15, when using gas push rod 58 as spring energy storage mechanism, connecting rod 14 self forms storage Gas chamber, is provided with gas push rod 58 and piston 59 in connecting rod 14, connecting rod 14 is offered and inflates hole 17, and gas push rod 58 lower end is even Connecing bracing wire 45, piston 59 is positioned at the chamber of connecting rod 14, carries out accumulation of energy by gas pressure, changes initial gas pressure, can adjust Save initial pretightning force.

Embodiment 6

Further, in order to prevent the joint twisting of joints forward from rotating, realize joint motions spacing simultaneously, at the first limbs and The position-limit mechanism limiting its rotational angle it is provided with between second limbs.

As shown in Figure 16 to Figure 18, the ball and socket joint 11 of the first limbs 1 offers stopper slot 18 along direction of rotation, It is provided with the limited block 27 corresponding with stopper slot 18 on the ball and socket joint 21 of two limbs 2, is limited by stopper slot 18 and limited block 27 The slewing area in joint.

Meanwhile, in this example, ball and socket joint 21 uses eccentric wheel structure, it is achieved non-linear power-assisted, and ball and socket joint is walked around in bracing wire 45 Bracing wire groove 25 on 21 outlines, upper end connects spring energy storage mechanism, and lower end is fixed on the second limbs 2.Non-linear power-assisted Effect is when being human body walking with load, needs most the situation of power-assisted and usually bears a heavy burden ramp-up period, now the knee joint of human body and The angle of bend of hip joint is the biggest.And human body is when level road walking with load, the knee joint of human body and the angle of bend of hip joint The least, and each joint need not too much power-assisted.More power-assisted means that human body needs spring energy storage mechanism on the contrary Carry out more accumulation of energy, and then affect the normal gait of human body walking.Utilize eccentric mechanism, just can realize power-assisted joint little Power-assisted low effort during angle bending, the non-linear power-assisted effect that power-assisted effect is remarkably reinforced when wide-angle bends.

Further, smoothed by between different two concentric circulars of radius, and two circles of the contour curve of described eccentric Cross curve combination to form.When joint is in erectility, bracing wire is pressed on the outline of minor radius circle O1；Until bracing wire was pressed in Cross on the smoothed curve between described two concentric circulars that (now the angle of bend in joint is)；Continuing bending joint, bracing wire will bear against On the outline of large radius circle O2.Using the eccentric of described combination concentric circular profile, ectoskeleton joint has obvious two sections Formula power-assisted effect.It is less than at angle of bendTime, ectoskeleton joint assistance low effort, the spring energy storage mechanism in joint is except tool There is upright reset response, substantially without joint being carried out obvious power-assisted, also body gait will not be produced and significantly affecting；Work as joint Angle of bend is more thanAfter, ectoskeleton joint assistance effect is obvious, and the bending further in joint needs human body acting to realize elasticity The accumulation of energy of mechanism, and then spring energy storage mechanism can be that joint provides extra power torque when joint is stretched.

As shown in Figure 19 to Figure 21, the contour curve a of eccentric can also use involute in form.Ectoskeleton joint inclined The heart is taken turns in an erect condition, and the eccentric profile that bracing wire 45 is pushed down has least radius；Along with the increase of angle of bend, bracing wire The eccentric profile radius that 45 are pushed down becomes involute in form gradually to increase with angle of bend.The eccentric of involute in form, does not has There is an obvious stagewise power-assisted effect, but the same power-assisted low effort when joint angle and curved, when angle of bend is bigger Power-assisted effect is gradually obvious, and persistently strengthens.For limiting rotating angle, same, edge on the ball and socket joint 11 of the first limbs 1 Direction of rotation offers stopper slot 18, is provided with the limited block 27 corresponding with stopper slot 18 on the ball and socket joint 21 of the second limbs 2.

Embodiment 7

As shown in Figure 22 and Figure 23, spring energy storage mechanism is fixed one end, and one end is movable, is arranged in the first limbs 1, the Being provided with support shaft 26 on two limbs 2, support shaft 26 is provided with movable pulley 24, bracing wire 45 one end is fixed on the first limbs 1 On the end face of joint, by walking around, behind the bracing wire hole 19 in the first limbs 1 ball and socket joint 11, the movable pulley 24 being assemblied on the second limbs, And the bracing wire hole 19 in newly wearing back the first limbs 1, the other end of bracing wire 45 continues to extend, connects the activity of spring energy storage mechanism End.Position-limit mechanism in this example, pre-tightening force adjusting device etc. is referred to embodiment 5 and embodiment 6.

Use movable pulley mechanism that the degree of power assistance of spring energy storage mechanism can be made double.Stage clip, extension spring in same stiffness Or under the gas push rod effect of same pressure and sectional area, have the device power-assisted effect ratio of movable pulley mechanism there is no movable pulley machine The device degree of power assistance of structure is twice.As want in the case of using identical spring energy storage mechanism, produce more great Cheng further The power-assisted effect of degree, then need to use multistage movable pulley mechanism, and the spring energy storage stroke of spring energy storage mechanism also can be at double simultaneously Increase.

Embodiment 8

When described torsion spring, extension spring, stage clip use nonlinear spring to do accumulating mechanism, can be regulated by initial tension of spring Device regulation power-assisted；When using gases at high pressure to do accumulating mechanism, by changing initial gas pressure, thus different journey can be realized The power-assisted regulation of degree.Described power-assisted regulation in various degree, in the case of referring to bear heavy burden in various degree for wearer, quilt The power-assisted size in dynamic formula ectoskeleton joint can be adjusted accordingly.Its effect is when wearer is born and gentlier born a heavy burden, can To use less power-assisted effect, so less to the accumulation of energy degree of servomechanism during each rhaeboscelia in walking, contribute to dressing Person easily walks；And when wearer bears heavier heavy burden, then can use bigger power-assisted effect, although walking is curved so every time During lower limb, wearer all needs bigger power that elastic mechanism carries out accumulation of energy, but helping of providing of spring energy storage device during straight legs Range degree is the biggest, and such wearer is bearing ability effectively power-assisted during heavier heavy burden is climbed.

Nonlinear spring described further refers to there is different spring pitch, spring diameter or spring wires in single spring The irregular spring in footpath.The elastic stiffness of this nonlinear spring constantly increases, therefore its bullet along with the increase of deformation degree The change curve of property power becomes non-linear.Described spring pre-tightening adjusting means, changes bullet by changing the position of spring supporting end The initial deformation degree of spring, and then change initial tension of spring.For torsion spring structure, spring supporting end can be the first limbs or second The spring mounting groove of limbs；For stage clip structure, spring supporting end is the spring terminal near ectoskeleton joint；Extension spring is tied Structure, spring supporting end is the spring terminal away from ectoskeleton joint.

On the basis of embodiment 4, for reaching to well adapt to effect in this example, it is provided with the regulation dress of torsion spring pretightning force Put, as shown in figures 24 and 25, this example is tenon 46 and regulating tank 43 structure, the i.e. direction of rotation along ectoskeleton joint are offered Having regulating tank 43, regulating tank 43 has multistage gear and fixes groove 44, tenon 46 can when sliding into arbitrary number of level gear by regulation Fix in groove 44 snapping in corresponding gear, and in the case of there is no artificial active force, tenon 46 without departing from fixing groove 44, The most just achieving the pretightning force regulation with different gear, wherein tenon 46 is bent to form by one end of torsion spring 41, bending segment Parallel with shaft center line, stretch out regulating tank 43 and be cased with the adjusting knob 42 for stirring, according to required power-assisted size of bearing a heavy burden Difference, stirs the position of adjusting knob 42, it is achieved the regulation of initial pretightning force.Similarly have employed limited block 27 and stopper slot 18 Coordinate and realize rotary spacing.

The most as shown in figure 26, on the basis of embodiment 5, in order to meet the regulation of initial pretightning force, along connecting Bar 14 axially offers regulating tank 43 and multistage fixing groove 44, and tenon 46 is arranged on a support seat 49, and stage clip 47 lower end supports Supporting on seat 49, upper end is pushed down by briquetting 48.The regulation of initial pretightning force is realized by stirring the position of tenon 46 up and down.

As in figs. 27 and 28, pre-tightening force adjusting device can be with screw slider structure, and leading screw 53 is co-axially mounted with stage clip 47 In connecting rod 14, the base of leading screw 53 be supported on the first limbs 1 correspondence mating holes in and can rotate, the axle of leading screw 53 The heart has through hole for through bracing wire 45, and the sidewall supporting seat 49 has spline 40 to coordinate with the keyway 50 of connecting rod 14 inwall, thus Limit support seat 49 can only sliding axially along connecting rod 14, support seat 49 endoporus be provided with the silk mouth coordinated with leading screw 53, silk Thick stick 53 is through silk mouth and support seat 49 threaded engagement；Also include the drive mechanism driving leading screw 53 to rotate, this example uses worm gear Worm mechanism, worm gear 52 coaxially fixes with leading screw 53, and worm screw 51 is arranged in the installing port 15 that connecting rod 14 is offered, and outer end connects Knob 54, turning knob 54 can realize supporting the position adjustments vertically of seat 49, thus realize the regulation of initial pretightning force.

As shown in figure 29, it would however also be possible to employ bevel gear pair 55 is driven, one of them bevel gear is fixed, separately with leading screw 53 One bevel gear is connected with knob 54.

Embodiment 9

As shown in figure 30, present invention simultaneously provides a kind of ectoskeleton power assisting device, including any one above-mentioned embodiment Ectoskeleton joint, including thigh skeleton 61, Leg bones 62, waist connecting rod 64 and knapsack bracing frame 69, Leg bones 62 Lower end connects flexible heel brace 63, is made up of elastomeric material, naturally it is also possible to substitute with spring, due to the range of activity at ankle Relatively big, for ensureing human body walking freely, do not increase too much constraint, only at the additional elastic heel brace 63 in the fixing bottom of shank, subtract The impact that slow whole mechanism produces when contacting with ground.Described thigh skeleton 61 upper end and waist connecting rod 64 pass through oscillating bearing Connect, there are three rotary freedoms, realize the bending and stretching of hip joint 65, side-sway and rotary motion respectively.Based on organization of human body Complexity, hip joint 65 relatively other joints are flexible, and one degree of freedom can not meet far away the needs of mechanism kinematic, use joint shaft Make as coupling parts so that hip joint 65 position has 3 degree of freedom, makes hip joint 65 position be possible not only to front and back put Dynamic, include simultaneously and swing and rotary motion.Such design can ensure that the harmony of mechanism, had both been not intended to human body fortune Dynamic, it is also possible to guarantee the security performance of motion.Thigh skeleton 61 and Leg bones 62 are constituted by two sections respectively, corresponding between two sections Offer height adjusting holes, and fixed by Quick Release pin, it is achieved thigh skeleton 61 adjustable length, Leg bones 62 adjustable length. Ectoskeleton joint therein uses as knee joint, and connecting rod 14 therein stores as the ingredient of thigh skeleton 61, elasticity Can mechanism be arranged in thigh skeleton 61.In this example as a example by extension spring 56, other embodiments can use remaining spring energy storage Mechanism.

As seen in figs. 33 and 34, wherein hip joint 65 includes big leg joint termination 66, termination, waist joint 67 and joint shaft Holding 68, oscillating bearing 68 and big leg joint termination 66 are rotationally connected by bolt and nut, and termination, waist joint 67 is enclosed within joint shaft Holding the bar portion of 68 and fixed by the clamping screw coaxially worn, 66 liang, the biggest leg joint termination inwall forms cone structure, Oscillating bearing 68 is made to have the degree of freedom swung.As shown in figs. 31 and 32, spring energy storage mechanism can also be arranged on little In thigh bone bone 62 or in waist connecting rod 64.

This ectoskeleton power assisting device belongs to passive type ESD, its simple in construction, the most reliability and durability；Low cost Honest and clean and then easy to spread, and need not extra power input, therefore can dress with distance and use.Device passes through connecting rod machine The weight of knapsack is shared two pedipulators by structure, is finally transmitted to ground, thus alleviates the heavy burden of operator, and passes through bullet During spring energy storage equipment will climb, human body needs to divide work needed for heavy burden elevated height rhaeboscelia and the whole fortune of straight legs Dynamic process, thus reduce the peak load that human leg is subjected to, play the effect of power-assisted.This device compares traditional quilt Dynamic formula ectoskeleton, has embolia and the advantage of passive type power-assisted.Wherein there is reset and the ectoskeleton joint of assist function Compare traditional passive type ectoskeleton joint, mainly have the advantage that

(1) joint uprightly resets and self-locking: magnetic attraction unit, when tending to upright state, can be passed through in ectoskeleton joint The restoring force of part or voussoir wedge groove mechanism realizes the reset in joint, and state of being kept upright under less External Force Acting, from And avoid ectoskeleton joint that unartificial dead point unstability occurs.

(2) joint passive type power-assisted: by spring energy storage mechanism, it is possible to achieve the passive type power-assisted in ectoskeleton joint, though So from physics's angle, the consumed total work of human body is constant, but due to the accumulation of energy when arthrogryposis of spring energy storage mechanism, stretches in joint Shi Zhuli, thus reduce the peak value of muscular exertion when human body heavy burden is climbed, it is to avoid human body occurs that over loading is moved, therefore to negative Overline has walked power-assisted effect.Further, use bracing wire, pulley and straight line spring energy storage mechanism, accumulating mechanism can be arranged in greatly In lower limb ectoskeleton, shank ectoskeleton, and lumbar support bar, so that the global design of device is the most flexible.

(3) non-linear power-assisted: using bracing wire and eccentric mechanism, ectoskeleton joint can realize non-linear power-assisted, it is made With when being human body walking with load, need most the situation of power-assisted and usually bear a heavy burden ramp-up period, now the knee joint of human body and hip The angle of bend in joint is the biggest；And human body is when level road walking with load, the knee joint of human body and the angle of bend of hip joint are equal Less, and each joint need not too much power-assisted.More power-assisted means human body to need flexible member to carry out more on the contrary Many accumulation of energys, and then affect the normal gait of human body walking.Utilize eccentric mechanism, just can realize power-assisted joint curved at low-angle Power-assisted low effort time bent, the non-linear power-assisted effect that power-assisted effect is remarkably reinforced when wide-angle bends.Figure 35 gives phase With bracing wire and stage clip mechanism, be respectively adopted when waiting radius pulleys and eccentric as ball and socket joint, what experiment recorded power-assisted song Line.Wherein, eccentric uses the concentric-ring pattern eccentric described in example 6, i.e. the outer contour of eccentric is by varying in size Two concentric circulars in the middle of gradual transition Curves compilation in addition；Deng radius pulleys radius then with in above-mentioned concentric-ring pattern eccentric Small radii circle is equal.Liang Zhong mechanism, in the range of bent angle alpha is 0～130 °, carries out repeating test respectively 20 times and obtains Experiment average.Wherein, X-axis is the bent angle alpha in ectoskeleton joint, the power torque T that Y-axis provides for ectoskeleton joint.From In Figure 34 it will be seen that the ectoskeleton joint of the radius pulleys such as employing also becomes line with the increase of bent angle alpha, its power torque T Property increase；And use the ectoskeleton joint of eccentric wheel structure bent angle alpha < when 30 °, the growth slope of its power torque is mild, But the obvious steepening of the slope of power torque after α>60 °, and 30 °<in the range of α<60 °, the growth slope gradually transition of power torque. This two-part power-assisted effect and concentric-ring pattern eccentric have inside and outside two kinds of radiuses circle, and the easement curve between two concentric circulars Contour feature be consistent.This explanation can also have different non-linear power-assisteds according to the eccentric of other forms such as involute Effect, and can be by the power torque formula of above-mentioned derivationIt is predicted.Eccentric in Figure 34 Theoretical curve is i.e. drawn by the above-mentioned derivation of equation, it can be seen that theoretical the most identical with empirical curve.

(4) power-assisted pretension is adjustable: uses nonlinear spring and pretightening force controlling mechanism, or uses the gas of different atmospheric pressure value to push away Linkage, it is also possible to make ectoskeleton joint for heavy burden in various degree, there is different magnitude of power-assisted effect.Due to non-linear Spring is along with the difference of deformation degree, and its elastic stiffness is also changing, therefore in the pretightening force controlling mechanism effect of different gears Under, starting force and elastic stiffness that spring mechanism shows are the most different；And gas transfer bar mechanism is by adjusting the air pressure in chamber Value, equally reaches the effect above.

The present invention can be used for transporting relief goods and walking freely in ruins with a varied topography, allows user at the back of the body Remain able to complete various action the most easily while negative greater mass, assist the rescue work of disaster scene；Exist simultaneously In future battlefield, dress ectoskeletal soldier and will have stronger physical function, higher capacity for individual action.

Above-described embodiment all can be carried out by any person skilled in the art under the spirit and the scope of the present invention Modify or change.Therefore, such as art has usually intellectual without departing from disclosed spirit with All equivalences completed under technological thought are modified or change, and must be contained by the claim of the present invention.

Claims

1. a reset ectoskeleton joint, including the first limbs and the second limbs, by closing between the first limbs and the second limbs Joint is rotationally connected, it is characterised in that: also include the resetting-mechanism being arranged between the first limbs and the second limbs and prevent joint Counter-rotational position limiting structure, described resetting-mechanism provides restoring force when the first limbs and the second limbs are close to erectility.

A kind of reset ectoskeleton joint the most according to claim 1, it is characterised in that: described resetting-mechanism is by magnetic absorption Element forms.

A kind of reset ectoskeleton joint the most according to claim 1, it is characterised in that: described resetting-mechanism includes compacting machine Structure and voussoir wedge groove mechanism, voussoir wedge groove mechanism makes to be formed between the first limbs and the second limbs the cooperation face of inclination, compacting machine Structure makes generation joint, the cooperation face restoring force of inclination.

A kind of reset ectoskeleton joint the most according to claim 1, it is characterised in that: also include being arranged on the first limbs with Spring energy storage mechanism between second limbs, the accumulation of energy when the first limbs and the second limbs passively bend of this spring energy storage mechanism, Elastic force and power-assisted is discharged during the first limbs and the second limbs stretch.

A kind of reset ectoskeleton joint the most according to claim 4, it is characterised in that: described spring energy storage mechanism is for turning round Spring, described torsion spring is arranged on joint, and one end is against on the first limbs, and the other end is against on the second limbs.

A kind of reset ectoskeleton joint the most according to claim 4, it is characterised in that: described spring energy storage mechanism is for drawing Spring, stage clip or gas push rod, described spring energy storage mechanism one end is fixed on the first limbs, and the other end is by bracing wire and the second limbs Connecting, described bracing wire is pressed on the ball and socket joint of the first limbs or the second limbs, and when arthrogryposis, ball and socket joint rotates and passes through to draw Xian Shi spring energy storage mechanism's stress and accumulation of energy.

A kind of reset ectoskeleton joint the most according to claim 4, it is characterised in that: described spring energy storage mechanism is for drawing Spring, stage clip or gas push rod, described spring energy storage mechanism the first end is fixed on the first limbs, sets on the ball and socket joint of the second limbs Being equipped with pulley, described bracing wire one end is fixed on the first limbs, the bracing wire other end walk around pulley and with spring energy storage mechanism Two ends connect.

8. according to a kind of reset ectoskeleton joint described in claim 5 or 6 or 7, it is characterised in that: also include regulating elastic storage The adjusting means of the initial pretightning force of energy mechanism；Or described extension spring, stage clip are nonlinear spring；Described first limbs and the second limbs Between be provided with the position-limit mechanism limiting its rotational angle.

A kind of reset ectoskeleton joint the most according to claim 6, it is characterised in that: described first limbs or the second limbs Ball and socket joint be eccentric wheel structure, described bracing wire is pressed on eccentric, and angle of bend is the biggest, and stress speedup is the fastest, it is achieved non-thread Property power-assisted.

10. an ectoskeleton power assisting device, it is characterised in that: include outside a kind of reset described in claim 1-9 any one Skeletal joint, described first limbs are thigh skeleton, and the second limbs are Leg bones, and described Leg bones lower end connects flexible Heel brace, described thigh skeleton upper end is connected by oscillating bearing with waist connecting rod, have bend and stretch, side-sway and three directions of rotation Degree of freedom.