CN106112988B - For connecting the trunk mechanical exoskeleton device of four limbs exoskeleton mechanism - Google Patents

Abstract

The human torso mechanical exoskeleton device used to connect the exoskeleton mechanism of the limbs, including the multi-rod mechanism of the shoulder joint exoskeleton, the double six-axis platform mechanism of the spine joint exoskeleton and the multi-rod mechanism of the hip joint exoskeleton, shoulder The joint exoskeleton multi-rod mechanism and the hip joint exoskeleton multi-rod mechanism have the same structure, the top and bottom of the spine joint exoskeleton double six-axis platform mechanism are respectively connected with the shoulder joint exoskeleton bottom middle and the hip joint exoskeleton multi-rod mechanism Fixed connection in the middle of the top. The invention fully reduces the pressure of people carrying heavy objects, and provides a good boosting effect, which greatly increases the weight of carrying heavy objects. It is also suitable for assisting the elderly in climbing stairs and walking, and can also be used for rehabilitation of patients by medical equipment.

Description

Human torso mechanical exoskeleton device for connecting exoskeleton mechanism of limbs

technical field

The invention relates to a decompression booster device for carrying heavy objects, in particular to a human body torso mechanical exoskeleton device used for connecting limbs and exoskeleton mechanisms.

Background technique

When people carry heavy objects, the lower limbs and spine will be under great pressure, and the limit of carrying heavy objects is small. Especially in areas with rough roads, vehicles cannot pass through these places, and people can only carry heavy objects on their backs, and the walking distance is relatively long. Naturally, a device that can reduce the pressure on the human body and increase the weight on the back is needed. In addition, people are prone to fatigue and fatigue when going up and down stairs or walking for a long time. Especially for the elderly, the problem is more prominent when walking and climbing stairs. The existing walking assist devices in the prior art have disadvantages: they cannot conveniently realize the abduction/adduction of the ankle joint and the hip joint, or even small-angle rotation, mainly because the assist device lacks degrees of freedom. At present, the decompression assisting device capable of carrying heavy objects, walking and climbing stairs with multiple degrees of freedom and a wide range of activities has not yet appeared on the market.

Contents of the invention

In order to solve the deficiencies in the prior art, the present invention provides a simple structure, strong reliability, good decompression effect, heavy carrying weight, enabling the shoulder joint and hip joint to achieve abduction/adduction movement, and the spine to achieve multiple A human torso mechanical exoskeleton device with a degree of freedom and a large range of motion for connecting exoskeleton mechanisms with limbs.

In order to solve the above-mentioned technical problems, the present invention adopts the following technical scheme: a human body trunk mechanical exoskeleton device for connecting extremity exoskeleton mechanisms, which is characterized in that it includes a shoulder joint exoskeleton multi-bar mechanism connected sequentially from top to bottom, a spinal joint The double six-axis platform mechanism of the exoskeleton and the multi-rod mechanism of the hip joint exoskeleton, the multi-rod mechanism of the shoulder joint exoskeleton and the multi-rod mechanism of the hip joint exoskeleton have the same structure, and the top and bottom of the double six-axis platform mechanism of the spine joint exoskeleton are respectively The middle of the bottom of the multi-bar mechanism of the shoulder joint exoskeleton is fixedly connected with the middle of the top of the multi-bar mechanism of the hip joint exoskeleton;

The multi-rod mechanism of the hip joint exoskeleton includes a middle connecting plate, and the left and right sides of the middle connecting plate are respectively equipped with a left-right and symmetrical three-dimensional rotating multi-rod drive system;

The three-dimensional rotating multi-rod drive system on the left includes a multi-rod virtual axis rotary driver, a side kick rotary driver, a front kick rotary driver, a first mounting base, a second mounting base, connecting rods, a driving rod, a first driven rod, a second The second driven rod, the third driven rod and the thigh side guard, the mutual rotation center line of the multi-rod virtual axis rotary driver is set horizontally along the front and rear directions, the rotary center line of the side kick rotary driver is set along the vertical direction, and the front kick rotary driver The center line of the side kick rotary driver is set horizontally along the left and right directions, the front side of the side kick rotary driver is fixedly connected to the rear side of the middle connecting plate, the rear power output end of the side kick rotary driver is connected to the front side of the first mounting base, and the multi-rod virtual axis rotary driver Set on the first mounting base, the upper left side of the thigh side guard is connected to the power output end of the front kick rotary drive, and the front kick rotary drive is located on the second mounting base;

There are two connecting rods, a driving rod, a first driven rod, a second driven rod and a third driven rod. The rear end is fixedly connected, the rear end of one first driven rod is hinged on the top of the first mounting base, the rear end of the other first driven rod is hinged on the bottom of the first mounting base, the first driven rod and The hinge point of the first mounting seat is located on the front side of the power output shaft of the multi-rod virtual shaft rotary driver, the front end of the driving rod is hinged to the rear end of the third driven rod, and the rear end of the first driven rod is fixedly connected to the right end of the connecting rod , the left end of the connecting rod is hinged to the rear end of the second driven rod, the rear part of the third driven rod is hinged to the right end of the connecting rod, the front end of the upper third driven rod is hinged to the right side of the top of the second mount, and the upper The front end of the second driven rod is hinged on the left side of the top of the second mounting base, the front end of the lower third driven rod is hinged on the right side of the bottom of the second mounting base, and the front end of the lower second driven rod is hinged on the left side of the bottom of the second mounting base. side.

The front side and rear side of the thigh side guard are respectively provided with a front curved baffle and a rear curved baffle, and a detachable The left thigh fixing belt, the right side three-dimensional rotating multi-rod driving system is provided with a detachable right thigh fixing belt between the front arc baffle and the rear arc baffle.

The double six-axis platform mechanism of the spinal joint exoskeleton includes an upper connection block, a lower connection block, a lower ring seat, a middle ring seat and an upper ring seat, and the upper surface of the upper ring seat is fixed on the lower surface of the upper connection block. The lower surface of the lower ring seat is fixed on the upper surface of the lower connecting block, the front side of the upper connecting block is fixedly connected to the middle part of the rear surface of the middle connecting plate of the shoulder joint exoskeleton multi-bar mechanism, and the front side of the lower connecting block is fixedly connected to the hip In the middle of the rear surface of the middle connecting plate of the joint exoskeleton multi-rod mechanism, six servo cylinders are arranged between the upper surface of the lower ring seat and the lower surface of the middle ring seat, and the upper surface of the middle ring seat is connected to the lower surface of the upper ring seat. There are six upper servo cylinders between the surfaces, the upper ends of the six lower servo cylinders are respectively ball-hinged on the middle ring seat, the lower ends of the six lower servo cylinders are respectively ball-hinged on the lower ring seat, and the upper ends of the six upper servo cylinders are respectively ball-hinged On the upper ring seat, the lower ends of the six upper servo cylinders are respectively ball-hinged on the middle ring seat; a supporting frame for carrying heavy objects is arranged between the upper connecting block and the lower connecting block.

The lower surface of the upper ring seat is provided with six upper hinge balls located on a circle centered on the center of the above ring seat. Every two upper hinge balls are set as a group and adjacently arranged. Three groups of upper hinge balls are arranged along the upper ring. The center of the seat is evenly arranged;

The upper surface of the lower ring seat is provided with six lower hinge balls located on a circle centered on the center of the lower ring seat. Every two lower hinge balls are set as a group and adjacently arranged. Three groups of lower hinge balls are arranged along the lower ring. The center of the seat is evenly arranged; the six upper hinge balls and the six lower hinge balls are arranged in a one-to-one correspondence;

There are six installation holes located on a circle centered on the center of the middle ring seat on the middle ring seat, every two installation holes are set as a group and adjacently arranged, and the three sets of installation holes are evenly distributed along the center of the middle ring seat. Arrangement, the projection of each group of mounting holes in the vertical direction is located between two adjacent groups of lower hinge balls, each mounting hole is fixed with a mounting column, and the lower end of the mounting column is provided with the first one located under the middle ring seat. A middle hinge ball, the upper end of the mounting column is provided with a second middle hinge ball located above the middle ring seat;

The upper and lower ends of the six upper servo cylinders are equipped with upper ball sockets, and the six upper hinge balls are connected to the upper ball sockets on the upper end of one upper servo cylinder for corresponding rotation, and the six second middle hinge balls are connected to one upper servo cylinder for corresponding rotation. Inside the upper ball socket at the lower end of the cylinder;

The upper and lower ends of the six lower servo cylinders are equipped with lower ball sockets, and the six lower hinge balls are respectively connected to the lower ball sockets at the lower end of a lower servo cylinder for corresponding rotation, and the six first middle hinge balls are connected to a lower servo cylinder for corresponding rotation. In the lower ball socket at the upper end of the cylinder.

The multi-rod virtual axis rotary actuator, side kick rotary actuator, front kick rotary actuator and knee joint rotary actuator are geared motors, rotary servo cylinders or rotary servo hydraulic cylinders.

The upper servo cylinder and the lower servo cylinder are linear hydraulic cylinders, pneumatic cylinders or electric cylinders.

With the above technical solution, the side guards on the left and right sides of the shoulder joint exoskeleton multi-bar mechanism in the present invention can be connected with the upper limb exoskeleton device to drive and coordinate the spatial movement of the upper limbs, and provide good support for the upper limb exoskeleton device. Connection positioning. The left and right sides of the lower part of the hip joint exoskeleton multi-bar mechanism are respectively connected with a lower limb foot support exoskeleton mechanism.

The two lower extremity foot support exoskeleton mechanisms have the same structure and are left and right symmetrical. The lower extremity foot support exoskeleton mechanism on the left includes the sole plate and the thigh connecting plate. There is a foot fixing belt between the left and right sides of the sole plate. The left side of the foot plate is provided with a lower leg guard, the lower end of the thigh connection plate is fixed with a knee joint rotary drive, the power output end of the knee joint rotary drive is connected to the calf upper guard, and the lower end of the calf upper guard and the upper end of the calf lower guard The space is connected by a lower telescopic structure, and the upper end of the thigh connecting plate and the lower end of the thigh side guard are connected by an upper telescopic structure; the lower telescopic structure and the upper telescopic structure have the same structure.

The lower telescopic structure includes a lower slot with an open lower end on the lower end of the lower leg guard and an upper slot with an upper open on the lower leg lower guard. The upper slot and the lower slot are set up and down correspondingly. A flashboard is inserted into the upper slot and the lower slot, the lower leg guard is connected to the upper part of the flashboard by two upper bolts, and the lower leg guard is connected to the lower part of the flashboard by two lower bolts.

Since the structure of the multi-rod mechanism of the shoulder joint exoskeleton and the multi-rod mechanism of the hip joint exoskeleton are the same, the specific structure of the multi-rod mechanism of the shoulder joint exoskeleton will not be repeated. Wearing the present invention on the human body, the multi-rod mechanism of the shoulder joint exoskeleton, the dual six-axis platform mechanism of the spine joint exoskeleton, and the multi-rod mechanism of the hip joint exoskeleton are all located at the rear of the human body, wherein the two sides of the multi-rod mechanism of the hip joint exoskeleton The thigh side guard is in contact with the outer side of the thigh, the left thigh side guard is tied tightly to the left thigh by the left thigh side guard, and the right thigh guard is tied tightly to the right thigh side guard and the right thigh by the right thigh guard. Similarly, the multi-bar mechanism of the shoulder joint exoskeleton is also carried out in this way. Two lower extremity foot supporting exoskeleton mechanisms are used to support the multi-rod mechanism of the shoulder joint exoskeleton, the double six-axis platform mechanism of the spine joint exoskeleton and the multi-rod mechanism of the hip joint exoskeleton. fixed with straps. The present invention should also include an intelligent controller for controlling the multi-rod virtual axis rotary driver, the side kick rotary driver, the front kick rotary driver, the knee joint rotary driver, the upper servo cylinder and the lower servo cylinder, and an intelligent controller for controlling the multi-rod virtual axis Power supply for swing drive, side kick swing drive, front kick swing drive, knee swing drive, upper servo cylinder, lower servo cylinder and intelligent controller.

The specific working principle and process of the multi-bar mechanism of the hip joint exoskeleton is as follows: when stepping forward, the rotary driver of the knee joint drives the lower leg guard and the upper calf guard to turn forward, and the lower leg of the human body moves forward. At the same time, The front kick swing drive rotates the thigh guard forward. If the leg kicks to the inside or outside, the side kick rotary driver drives the thigh side guard inward or outward through the first mounting base, the driving rod, the first driven rod, the second driven rod and the third driven rod External rotation. The front kick rotary driver and the side kick rotary driver cooperate with two or three of the multi-rod virtual axis rotary drivers respectively, and various motion trajectories of the human hip joint can be simulated. Wherein the multi-rod virtual shaft rotary driver drives two driving rods to rotate, and the driving rod can drive the thigh side guard plate to expand and rotate forward and backward through the first driven rod, the second driven rod and the third driven rod.

The specific working principle and process of the dual six-axis platform mechanism of the spine joint exoskeleton: using two six-degree-of-freedom motion platforms docked up and down, reaching 12 degrees of freedom, six upper servo cylinders and six lower servo cylinders extend or It can be shortened, so that it can simulate the movement postures in various spaces, and the functions of bending, twisting and supporting the human body are the same as the human spine, and achieve a good supporting effect.

When people of different heights use it, the boards of the lower telescopic structure and the upper telescopic structure can be replaced. When the height is higher, the longer board is used, and when the height is lower, the shorter board is used. The leg length of the human body is adjusted.

To sum up, the present invention has simple structure, novel design, high degree of spatial freedom, flexibility and lightness, fully reduces the pressure of people carrying heavy objects, and provides a good boosting effect, which greatly increases the weight of carrying heavy objects, and is also suitable for It can also be used to assist the elderly in climbing stairs and walking, and can also be used for the rehabilitation of patients by medical equipment.

Description of drawings

Fig. 1 is the rear view structural representation of the present invention worn on the human body;

Fig. 2 is the right view of Fig. 1;

Fig. 3 is a schematic diagram of the three-dimensional structure of the present invention in Fig. 1;

Fig. 4 is an exploded view of the multi-bar mechanism of the hip joint exoskeleton in Fig. 3;

Fig. 5 is an enlarged plan view of the dual six-axis platform mechanism of the spinal joint exoskeleton in Fig. 3;

Fig. 6 is a schematic structural view of the ring seat in Fig. 5 .

Detailed ways

As shown in Figures 1 to 6, the human body trunk mechanical exoskeleton device for connecting the exoskeleton mechanism of the limbs of the present invention includes a shoulder joint exoskeleton multi-rod mechanism 1, a spine joint exoskeleton double six connected sequentially from top to bottom. The axis platform mechanism 2 and the hip joint exoskeleton multi-rod mechanism 3, the shoulder joint exoskeleton multi-rod mechanism 1 and the hip joint exoskeleton multi-rod mechanism 3 have the same structure, and the top and bottom of the spine joint exoskeleton dual six-axis platform mechanism 2 are respectively It is fixedly connected with the middle of the bottom of the shoulder joint exoskeleton multi-bar mechanism 1 and the top middle of the hip joint exoskeleton multi-bar mechanism 3 .

The hip joint exoskeleton multi-rod mechanism 3 includes a middle connecting plate 4, and the left and right sides of the middle connecting plate 4 are respectively provided with a symmetrical three-dimensional rotating multi-rod drive system;

The three-dimensional rotating multi-rod driving system on the left side includes a multi-rod virtual axis rotary driver 5, a side kick rotary driver 6, a front kick rotary driver 7, a first mount 8, a second mount 9, a connecting rod 10, a drive rod 11, The first driven rod 12, the second driven rod 13, the third driven rod 14 and the thigh side guard plate 15, the interrotation center line of the multi-rod virtual axis rotary driver 5 are arranged horizontally along the front and rear direction, and the side kicks the rotary driver 6 The center line of the rotary drive is set vertically, the center line of the front kick rotary drive 7 is set horizontally along the left and right direction, the front side of the side kick rotary drive 6 is fixedly connected with the rear side of the middle connecting plate 4, and the rear side of the side kick rotary drive 6 is powered The output end is connected with the front side of the first mounting base 8, the multi-rod virtual shaft rotary driver 5 is located on the first mounting base 8, the upper left side of the thigh side guard plate 15 is connected with the power output end of the front kicking rotary drive 7, and the front kicking The rotary drive 7 is arranged on the second mount 9 .

Connecting rod 10, driving rod 11, the first driven rod 12, the second driven rod 13 and the third driven rod 14 are all provided with two, the upper end and the lower end of the power output shaft of the multi-rod virtual axis rotary driver 5 respectively It is fixedly connected with the rear end of a driving rod 11, the rear end of a first driven rod 12 is hinged on the top of the first mounting base 8, and the rear end of the other first driven rod 12 is hinged on the first mounting base 8. The bottom of the seat 8, the hinge point of the first driven rod 12 and the first mounting seat 8 is located at the front side of the power output shaft of the multi-rod virtual axis rotary driver 5, and the front end of the driving rod 11 is connected to the rear of the third driven rod 14. The ends are hinged, the rear end of the first driven rod 12 is fixedly connected with the right end of the connecting rod 10, the left end of the connecting rod 10 is hinged with the rear end of the second driven rod 13, the rear part of the third driven rod 14 is connected with the right end of the connecting rod 10 Hinged, the front end of the third driven rod 14 on the upper part is hinged on the right side of the top of the second mounting base 9, the front end of the second driven rod 13 on the upper part is hinged on the left side of the top of the second mounting base 9, and the third driven rod 14 on the lower part The front end is hinged on the right side of the bottom of the second mounting base 9 , and the front end of the lower second driven rod 13 is hinged on the left side of the bottom of the second mounting base 9 .

The front side and rear side of the thigh side guard plate 15 are respectively provided with a front arc baffle 16 and a rear arc baffle 17, and the front arc baffle 16 and the rear arc baffle 17 of the left side three-dimensional rotation multi-rod drive system There is a detachable left thigh fixing belt 18 between them, and a detachable right thigh fixing belt 36 is provided between the front arc baffle 16 and the rear arc baffle 17 of the right side three-dimensionally rotating multi-bar drive system.

Spinal joint exoskeleton double six-axis platform mechanism 2 comprises upper connection block 19, lower connection block 20, lower ring seat 21, middle ring seat 22 and upper ring seat 23, and the upper surface of upper ring seat 23 is fixed on The lower surface of the upper connecting block 19, the lower surface of the lower ring seat 21 is fixedly arranged on the upper surface of the lower connecting block 20, and the front side of the upper connecting block 19 is fixedly connected to the rear of the middle connecting plate 4 of the shoulder joint exoskeleton multi-bar mechanism 1. The middle part of the side surface, the front side of the lower connecting block 20 is fixedly connected to the middle part of the rear side surface of the middle connecting plate 4 of the hip joint exoskeleton multi-bar mechanism 3, and the upper surface of the lower ring seat 21 is arranged between the lower surface of the middle ring seat 22. There are six lower servo cylinders 24, six upper servo cylinders 25 are arranged between the upper surface of the middle ring seat 22 and the lower surface of the upper ring seat 23, and the upper ends of the six lower servo cylinders 24 are respectively ball-hinged on the middle ring seat 22, The lower ends of the six lower servo cylinders 24 are respectively ball-hinged on the lower ring seat 21, the upper ends of the six upper servo cylinders 25 are respectively ball-hinged on the upper ring seat 23, and the lower ends of the six upper servo cylinders 25 are respectively ball-hinged on the middle ring seat On 22; a supporting frame for carrying heavy objects is provided between the upper connecting block 19 and the lower connecting block 20 (not shown in the figure).

The lower surface of the upper ring seat 23 is provided with six upper hinge balls (not shown in the figure) on a circle with the center of the above ring seat 23 as the center of the circle. Every two upper hinge balls are set as a group and adjacently arranged. Three groups of upper hinge balls are evenly arranged along the center of the upper ring seat 23 .

The upper surface of the lower ring seat 21 is provided with six lower hinge balls (not shown in the figure) on a circle with the center of the lower ring seat 21 as the center of the circle. Every two lower hinge balls are set as a group and adjacently arranged. Three groups of lower hinge balls are evenly arranged along the center of the lower ring seat 21; six upper hinge balls and six lower hinge balls are arranged correspondingly up and down.

The middle ring seat 22 is provided with six mounting holes on a circle centered on the center of the middle ring seat 22, every two mounting holes are set as a group and adjacently arranged, and three groups of mounting holes are arranged along the middle ring seat. 22 centers are evenly arranged, and the projection of each group of mounting holes in the vertical direction is located between the adjacent two groups of lower hinge balls. Each mounting hole is fixed with a mounting column 27, and the lower end of the mounting column 27 is provided with a ring located in the middle ring. The first middle hinge ball 26 below the seat 22 and the second middle hinge ball 28 above the middle ring seat 22 are arranged on the upper end of the mounting column 27 .

The upper and lower ends of the six upper servo cylinders 25 are provided with upper ball sockets, and the six upper hinge balls are respectively connected to the upper ball sockets on the upper end of an upper servo cylinder 25 for rotation, and the six second middle hinge balls 28 are connected to the corresponding rotation. In the upper ball socket of the upper servo cylinder 25 lower ends.

The upper and lower ends of the six lower servo cylinders 24 are provided with lower ball sockets, and the six lower hinge balls are respectively connected to the lower ball sockets at the lower end of the lower servo cylinder 24 correspondingly, and the six first middle hinge balls 26 are correspondingly connected in rotation. In the lower ball socket of a lower servo cylinder 24 upper ends.

The multi-rod virtual shaft rotary driver 5, the side kick rotary driver 6, the front kick rotary driver 7 and the knee joint rotary driver 33 are geared motors, rotary servo cylinders or rotary servo hydraulic cylinders.

The upper servo cylinder 25 and the lower servo cylinder 24 are linear hydraulic cylinders, air cylinders or electric cylinders.

The side guards on the left and right sides of the shoulder joint exoskeleton multi-rod mechanism 1 in the present invention can be connected with the upper limb exoskeleton device (not shown in the figure) for driving and coordinating the spatial movement of the upper limb, and it is an upper limb exoskeleton device Provides good connection positioning. The left and right sides of the lower part of the hip joint exoskeleton multi-bar mechanism are respectively connected with a lower limb foot support exoskeleton mechanism.

The two lower extremity foot support exoskeleton mechanisms have the same structure and are left-right symmetrical. The left lower extremity foot support exoskeleton mechanism includes a sole plate 29 and a thigh connecting plate 30, and a foot is provided between the left and right sides of the sole plate 29. Fixing belt 31, sole plate 29 left sides are provided with shank lower guard plate 32, thigh connecting plate 30 lower ends are fixedly provided with knee joint rotary drive 33, and the power output end of knee joint rotary drive 33 is connected with shank upper guard plate 34, and shank upper The lower end of the guard plate 34 is connected with the upper end of the lower leg guard plate 32 by a telescopic structure, and the upper end of the thigh connecting plate 30 is connected with the lower end of the thigh side guard plate 15 by an upper telescopic structure; the lower telescopic structure is identical to the structure of the upper telescopic structure.

The lower telescopic structure comprises a lower slot with an open lower end on the shank upper guard plate 34 lower surface and an upper open slot with an upper end open on the lower leg lower guard plate 32 upper surface, and the upper slot and the lower slot correspond up and down. Set, the upper slot and the lower slot are inserted with a flashboard 35, the shank upper shield 34 is connected with the top of the flashboard 35 by two upper bolts 37, and the lower leg guard 32 is connected with the flashboard 35 by two lower bolts 38. Lower connection.

Since the structure of the multi-rod mechanism 1 of the shoulder joint exoskeleton and the multi-rod mechanism 3 of the hip joint exoskeleton are the same, the specific structure of the multi-rod mechanism of the shoulder joint exoskeleton 1 will not be repeated. Wearing the present invention on the human body, the shoulder joint exoskeleton multi-rod mechanism 1, the spine joint exoskeleton double six-axis platform mechanism 2, and the hip joint exoskeleton multi-rod mechanism 3 are all located at the rear of the human body, wherein the hip joint exoskeleton multi-rod mechanism 3 The thigh side shield 15 on both sides of the left side is in contact with the outer side of the thigh, and the left thigh side shield 15 is fastened to the thigh on the left side by the left thigh fixing belt 18, and the thigh side shield 15 on the right side is fastened by the right thigh fixing belt 36. Tighten with the right thigh. Similarly, the shoulder joint exoskeleton multi-bar mechanism 1 is also carried out in this wearing manner. Two lower extremity foot supporting exoskeleton mechanisms are used to support the shoulder joint exoskeleton multi-rod mechanism 1, the spine joint exoskeleton double six-axis platform mechanism 2 and the hip joint exoskeleton multi-rod mechanism 3, and the two feet of the person are on the sole plate 29 , fixed by the foot fixing strap 31. The present invention should also include an intelligent controller for controlling the multi-rod virtual axis rotary driver 5, the side kick rotary driver 6, the front kick rotary driver 7, the knee joint rotary driver 33, the upper servo cylinder 25 and the lower servo cylinder 24, and The power supply for controlling the multi-rod virtual shaft rotary driver 5, side kick rotary driver 6, front kick rotary driver 7, knee joint rotary driver 33, upper servo cylinder 25, lower servo cylinder 24 and intelligent controller.

The specific working principle and process of the hip joint exoskeleton multi-bar mechanism 3 are as follows: when stepping forward, the knee joint rotary driver 33 drives the calf lower guard plate 32 and the calf upper guard plate 34 to turn forward, and the calf of the human body moves forward along with it. Take a step forward, and simultaneously, the front kicking rotary driver 7 drives the thigh guard to turn forward. If the leg is kicked inside or outside, the side kicks the rotary driver 6 to drive the side of the thigh through the first mounting base 8, the driving rod 11, the first driven rod 12, the second driven rod 13 and the third driven rod 14. The shield 15 is rotated inwardly or outwardly. The front kick rotary driver 7 and the side kick rotary driver 6 cooperate with two or three of the multi-rod virtual axis rotary driver 5 respectively to simulate various motion trajectories of the human hip joint. Wherein the multi-rod virtual shaft rotary driver 5 drives two driving rods 11 to rotate, and the driving rod 11 can drive the thigh side guard plate 15 to stretch and retract before and after by the first driven rod 12, the second driven rod 13 and the third driven rod 14. rotate.

The specific working principle and general name of the dual six-axis platform mechanism 2 of the spinal joint exoskeleton: using two six-degree-of-freedom motion platforms docked up and down, reaching 12 degrees of freedom, six upper servo cylinders 25 and six lower servo cylinders 24 It can be stretched or shortened, so as to simulate the movement postures in various spaces. The functions of bending, twisting and supporting the human body are the same as the spine of the human body, and achieve a good supporting effect.

When people of different heights use it, it is possible to use the longer board 35 by replacing the lower telescopic structure and the upper telescopic structure. When the height is higher, the longer board 35 is used. When the height is lower, the shorter board 35 is used. It is equivalent to adjusting the length of the legs of the human body.

The above embodiments are only used to illustrate and not limit the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that the present invention can still be modified or equivalently replaced without departing from it. Any modifications or partial replacements within the spirit and scope of the present invention shall fall within the scope of the claims of the present invention.

Claims (6)

1. for connecting the trunk mechanical exoskeleton device of four limbs exoskeleton mechanism, it is characterised in that：Including from top to bottom The double six shaft platform mechanisms of sequentially connected shoulder joint ectoskeleton multi-bar linkage, joint of vertebral column ectoskeleton and the more bars of hip joint ectoskeleton Mechanism, shoulder joint ectoskeleton multi-bar linkage is identical with the construction of hip joint ectoskeleton multi-bar linkage, joint of vertebral column ectoskeleton double six The top and bottom of shaft platform mechanism respectively with shoulder joint ectoskeleton multi-bar linkage bottom among and the more bar machines of hip joint ectoskeleton The crown center of structure is fixedly connected；

Hip joint ectoskeleton multi-bar linkage includes middle part connecting plate, and middle part connecting plate left side and right side are respectively equipped with one or so pair The more bar drive systems of Three dimensional rotation of title；

The more bar drive systems of Three dimensional rotation in left side include more rods virtual shaft revolution driving devices, side and kick back turning driver, preceding kicking back Turn driver, the first mounting base, the second mounting base, connecting rod, drive rod, the first follower lever, the second follower lever, the 3rd follower lever and Thigh side guard plate, more rods virtual shaft revolution driving devices mutually turn center line and are horizontally disposed with along the longitudinal direction, and side, which kicks back, turns driver Centre of gyration line be arranged in vertical, preceding kick back turns the center line of driver and is horizontally disposed in left-right direction, and side, which kicks back, to be turned With being fixedly connected on rear side of middle part connecting plate, side, which kicks back, turns power output end and the first installation on rear side of driver for the front side of driver The connection of seat front side, more rods virtual shaft revolution driving devices are located in the first mounting base, and thigh side guard plate upper left-hand turns with before kicking back The power output end connection of driver, preceding kick back turn driver and are located in the second mounting base；

Connecting rod, drive rod, the first follower lever, the second follower lever and the 3rd follower lever are equipped with two, and more rods virtual shaft revolutions are driven Rear end of the top and bottom of the power output shaft of dynamic device respectively with a drive rod is fixedly connected, after first follower lever End is hinged on the top of the first mounting base, and the rear end of another first follower lever is hinged on the bottom of the first mounting base, first from The hinge joint of lever and the first mounting base is located at the front side of the power output shaft of more rods virtual shaft revolution driving devices, before drive rod End and the rear end of the 3rd follower lever are hinged, and the first driven rod rear end is fixedly connected with connecting rod right end, the left end of connecting rod and second from Lever rear end is hinged, and the rear portion of the 3rd follower lever and the right end of connecting rod are hinged, and the 3rd follower lever front end on top is hinged on second Mounting base top right side, the second follower lever front end on top are hinged on the second mounting base top left side, the 3rd follower lever of lower part Front end is hinged on the second mounting base bottom right, and the second follower lever front end of lower part is hinged on the second mounting base bottom left.

2. it is according to claim 1 for connecting the trunk mechanical exoskeleton device of four limbs exoskeleton mechanism, it is special Sign is：On front side of thigh side guard plate and rear side is respectively equipped with front arc baffle and rear arc baffle, and Three dimensional rotation more bars in left side drive Dynamic that dismountable left thigh fixation band is equipped between the front arc baffle of system and rear arc baffle, Three dimensional rotation more bars in right side drive It is dynamic that dismountable right thigh fixation band is equipped between the front arc baffle of system and rear arc baffle.

3. it is according to claim 1 or 2 for connecting the trunk mechanical exoskeleton device of four limbs exoskeleton mechanism, It is characterized in that：The double six shaft platform mechanisms of joint of vertebral column ectoskeleton include upper link block, lower connecting block, lower annulus seat, middle annulus seat With upper annulus seat, the lower surface for being located at link block is fixed in the upper surface of upper annulus seat, and the lower surface of lower annulus seat, which is fixed, to be located at The upper surface of lower connecting block, upper link block front side are fixedly connected on the rear side of the middle part connecting plate of shoulder joint ectoskeleton multi-bar linkage Surface middle part, in the rear side surface for the middle part connecting plate for being fixedly connected on hip joint ectoskeleton multi-bar linkage on front side of lower connecting block Portion is equipped with servoBcylinder under the six roots of sensation, middle annulus seat upper surface and upper annulus between lower annulus seat upper surface and middle annulus seat lower surface Seat is equipped with servoBcylinder in the six roots of sensation between lower surface, and flexural pivot is distinguished on middle annulus seat in the upper end of servoBcylinder under the six roots of sensation, is watched under the six roots of sensation Flexural pivot is distinguished on lower annulus seat in the lower end for taking cylinder, and flexural pivot is distinguished on upper annulus seat in the upper end of servoBcylinder in the six roots of sensation, in the six roots of sensation Flexural pivot is distinguished on middle annulus seat in the lower end of servoBcylinder；It is equipped with to bear the support of weight between upper link block and lower connecting block Frame.

4. it is according to claim 3 for connecting the trunk mechanical exoskeleton device of four limbs exoskeleton mechanism, it is special Sign is：Upper annulus seat lower surface is equipped with six upper hinge balls being located on the circle that more than annulus seat center is the center of circle, often Two upper hinge balls is one groups and are disposed adjacent, and three groups of upper hinge balls are evenly arranged along upper annulus seat center；

Lower annulus seat upper surface, which is equipped with, is located at following annulus seat center for six lower hinge balls on a circle in the center of circle, each two Lower hinge ball is one group and is disposed adjacent, and three groups of lower hinge balls are evenly arranged along lower annulus seat center；Six upper hinge balls and six A lower hinge ball corresponds setting up and down；

Middle annulus seat, which is equipped with, to be located at using middle annulus seat center as six mounting holes on a circle in the center of circle, each two mounting hole It for one group and is disposed adjacent, three groups of mounting holes are evenly arranged at annulus seat center in, and each group of mounting hole is in vertical direction Projection is fixed with mounting post between two adjacent groups lower hinge ball in each mounting hole, mounting post lower end, which is equipped with, to be located at Below middle annulus seat first in hinge ball, mounting post upper end be equipped be located at middle annulus seat above second in hinge ball；

The top and bottom of servoBcylinder are equipped with ball-and-socket in the six roots of sensation, and correspondence is rotatably connected on one six upper hinge balls respectively In the upper ball-and-socket of servoBcylinder upper end, hinge ball correspondence is rotatably connected on the upper ball-and-socket of a upper servoBcylinder lower end in six second It is interior；

The top and bottom of servoBcylinder are equipped with lower ball-and-socket under the six roots of sensation, and correspondence is rotatably connected under one six lower hinge balls respectively In the lower ball-and-socket of servoBcylinder lower end, hinge ball correspondence is rotatably connected on the lower ball-and-socket of a lower servoBcylinder upper end in six first It is interior.

5. it is according to claim 1 for connecting the trunk mechanical exoskeleton device of four limbs exoskeleton mechanism, it is special Sign is：More rods virtual shaft revolution driving devices, side kick back turn driver and before kick back turn driver for decelerating motor, rotating servo Cylinder or rotating servo hydraulic cylinder.

6. it is according to claim 3 for connecting the trunk mechanical exoskeleton device of four limbs exoskeleton mechanism, it is special Sign is：Upper servoBcylinder and lower servoBcylinder are linear hydraulic cylinder, cylinder or electric cylinder.