CN110251370A - A passive gravity self-balancing lower limb exoskeleton structure - Google Patents

Abstract

The invention discloses a light and compact gravity self-balancing lower limb exoskeleton structure, which is composed of a hip joint, a knee joint, a thigh and a lower leg; the upper end of the thigh is the hip joint, and the lower end of the thigh and the upper end of the lower leg are the knee joint. The structure of the present invention maps the rotational movement of the joint into a feature point that moves linearly along the axis of the swing link, so that the linear spring can be installed inside the link of the exoskeleton, and during the joint movement, it can form a corresponding moment to balance the gravity of the whole man-machine system. It solves the defects of traditional lower extremity exoskeleton mechanism with external spring and large structure. The structure of the present invention can be used to assist the elderly and patients with lower limb motor dysfunction in daily walking.

Description

A passive gravity self-balancing lower limb exoskeleton structure

technical field

The invention relates to a mechanical lower limb device belonging to an assisting robot system, more specifically, a passive lower limb exoskeleton structure with a compact structure and self-balancing gravity.

Background technique

The lower extremity exoskeleton robot is mainly divided into two types according to the different driving methods: dynamic type and passive type. Powered lower extremity exoskeletons mainly use batteries or external power sources as energy sources, and obtain driving force through motors, cylinders or liquid motors. Because the boosting effect of this method is intuitive and effective, it has attracted the interest of many researchers at home and abroad. Typical examples include HULC in the United States, ReWalk in Japan, and the Dayai exoskeleton of Beijing University of Aeronautics and Astronautics in China, Fourier X1 of Shanghai Fourier Intelligent Co., Ltd., etc. Generally speaking, powered lower extremity exoskeletons have good power-assist efficiency, but due to their additional drive batteries and motors, the overall structure is huge and consumes a lot of energy, resulting in limited endurance and maneuverability.

In order to overcome the problems of powered lower extremity exoskeletons, many researchers have also begun to focus on passive technologies. Passive exoskeletons do not require any drive from an external power source, and their movement depends entirely on the wearer's own actions. Its power-assisted method mainly balances the torque generated by the load on the body joints through the ingenious combination of the mechanism and the spring, so as to reduce the energy consumption of the body and enhance the walking endurance and bearing capacity. During human walking, the joints of the lower limbs need a large range of rotation. In order to prevent the joint hinges from hindering the movement of the spring, the spring needs to be installed outside the connecting rod of the exoskeleton, and the connection point of the spring should be far away from the joint point. However, such a design will increase the size of the structure, which not only results in a bulky structure, but also reduces the safety during use. Therefore, it is necessary to design a mechanism with a compact structure that can realize the gravity self-balancing function inside the skeleton of the exoskeleton.

Contents of the invention

The purpose of the present invention is to design a set of gravity self-balancing mechanism that can be placed inside the exoskeleton skeleton, so as to solve the defects of the existing gravity self-balancing mechanism, such as external spring and huge structure. Realize the gravity self-balancing of the whole human-machine system on the basis of ensuring the compactness and safety of the exoskeleton structure. The present invention aims at the existing gravity self-balancing mechanism of the lower extremity exoskeleton, which has defects such as external springs and large structure, which often lead to the fear and rejection of the wearer, and designs a passive exoskeleton gravity self-balancing mechanism . The mechanism maps the rotational movement of the lower limb joints to a feature point that moves linearly along the axis of the swing link, so that the linear spring can be installed inside the link of the exoskeleton, and can form a corresponding moment during the joint movement. To balance the gravity of the entire man-machine system. The present invention subverts the traditional design idea of gravity balance structure with external springs, and realizes the gravity self-balance of the whole man-machine system on the basis of ensuring the compactness and safety of the exoskeleton. The exoskeleton is mainly used to assist the elderly and patients with lower limb motor dysfunction in daily walking.

A light and compact gravity self-balancing lower extremity exoskeleton structure of the present invention is composed of a hip joint, a knee joint, a thigh and a lower leg; the upper end of the thigh is the hip joint, and the lower end of the thigh and the upper end of the lower leg are the knee joint.

The hip joint (1) is composed of the external thigh gear (1A), the internal thigh gear (1B), the thigh stopper (1C), the thigh lock (1D), the thigh connecting piece (1E), the upper thigh rotation shaft unit and the lower thigh rotation A shaft unit is formed; the upper thigh rotation shaft unit includes AA rotation shaft (11A), AA bearing (11B), AA pressure plate (11C), AB bearing (11D) and AA screw (11E); the lower thigh rotation shaft The unit includes AB rotating shaft (12A), AC bearing (12B), AC pressure plate (12C), AD bearing (12D), AB screw (12E), AA angle encoder (12F), AC pressure plate (12G) and AB angle Encoder (12H); the hip joint (1) is fixed by the EA connecting plate (5A) of the thigh connecting plate (1E) and the waist auxiliary plate (5);

The AA rotating shaft (11A) in the rotating shaft unit on the thigh is provided with an AA connecting plate (11A1) and an AA shaft (11A2); the axial center of the AA rotating shaft (11A) is an AA threaded hole (11A3); The AA connection plate (11A1) of the rotating shaft (11A) is fixed on one side disc of the inner thigh gear (1B); the AA shaft (11A2) is sleeved with the AA bearing (11B); the middle part of the AA pressure plate (11C) is provided with The AD through hole (11C1), the AD through hole (11C1) is used to place the AB bearing (11D); the AA connecting plate (11A1) of the AA rotating shaft (11A) is fixed on one side disc of the inner thigh gear (1B), AA After the AA shaft (11A2) of the rotating shaft (11A) passes through the AA bearing (11B) and the AB bearing (11D), install the AA screw (11E) in the AA threaded hole (11A3) at the end; through the AA screw (11E ) is connected with the AA rotating shaft (11A) to install the AB bearing (11D) in the AD through hole (11C1) of the AA pressure plate (11C), and at the same time because the AA pressure plate (11C) is fixed on the A of the thigh connector (1E) At the AB through hole (1E3) of the lower panel (1E2), so as to compress the AA pressure plate (11C) through the AA screw (11E);

The AB rotating shaft (12A) in the rotating shaft unit under the thigh is provided with an AB connection plate (12A1) and an AB shaft (12A2); the axial center of the AB rotating shaft (12A) is an AB threaded hole (12A3); The AB connection plate (12A1) of the rotating shaft (12A) is fixed at the thigh lug (2B3) of the thigh cover (2B); the AB bearing (12B) is sleeved on the AB shaft (12A2); the AB pressure plate (12C) There is an AE through hole (12C1) in the middle, and the AE through hole (12C1) is used to place the AD bearing (12D); the middle part of the AC pressure plate (12G) is provided with an AF through hole (12G1), and the AF through hole (12G1) is used to place AB angle encoder (12H); A countersunk hole (12E1) for AA angle encoder (12F) is provided on the end face of AB screw (12E); AB connection plate (12A1) of AB rotation shaft (12A) is fixed At the AC through hole (1E4) of the A lower panel (1E2) of the thigh connector (1E), after the AB shaft (12A2) of the AB rotation shaft (12A) passes through the AC bearing (12B) and the AD bearing (12D), Install the AB screw (12E) in the AB threaded hole (12A3) at the end; through the connection between the AB screw (12E) and the AB rotating shaft (12A), the AD bearing (12D) is installed on the AE of the AB pressure plate (12C) In the through hole (12C1), at the same time, because the AB pressure plate (12C) is fixed at the AC hole (1E4) of the A lower panel (1E2) of the thigh connector (1E), the AB pressure plate ( 12C); An AC pressure plate (12G) is fixedly installed on the AB pressure plate (12C), and an AB angle encoder (12H) is installed in the AF through hole (12G1) of the AC pressure plate (12G);

The movement of the thigh internal gear movement assembly: under the actuation of the thigh internal gear (1B), the AA rotation axis (11A) rotates around the AD through hole (11C1) of the AA pressure plate (11C), and the AD through hole (11C1) Install the AA bearing (11B), the AB bearing (11D) is installed in the AB through hole (1E3) of the thigh connector (1E), and the AA screw (11E) is threaded into the AA threaded hole (11A3) of the AA rotating shaft (11A) Among them, the axial fixation of the bearing is achieved by pressing the AA screw (11E), so that the axis of the AA rotating shaft (11A) rotates around the AB through hole (1E3) of the thigh connector (1E);

Movement of the hip joint movement assembly: under the actuation of the thigh external gear (1A), the AB rotation axis (12A) rotates around the AE through hole (12C1) of the AB pressure plate (12C), and the AE through hole (12C1) is installed The AC bearing (12B) then rotates around the AC through hole (1E4) of the thigh connector (1E); on the one hand, the AB screw (12E) is installed in the AB threaded hole (12A3) at the end of the AB rotating shaft (12A). The AA angle encoder (12F) is installed at the end of the screw (12E); on the other hand, the AC clamp (12G) is fixed on the AB clamp (12C), and AB is installed in the AF through hole (12G1) of the AC clamp (12G). Angle encoder (12H);

The thigh (2) consists of the thigh shell (2A), the thigh cover (2B), the thigh link (2C), the lower thigh connecting plate (2D), the BA rotation axis unit, the BB rotation axis unit, the BC rotation axis unit and the gravity of the thigh The composition of the balance coefficient adjustment component (2E);

The thigh shell panel (2A1) of the thigh shell (2A) is provided with a BG through hole (2A11) for cables to pass through; the thigh shell lower panel (2A2) of the thigh shell (2A) is provided with a thigh gravity balance coefficient adjustment The BH through hole (2A21) passing through the upper end of the thigh screw (2E3) in the assembly (2E);

The upper end of the thigh cover plate (2B) is a thigh ring (2B1), and a thigh limit hole (2B2) is arranged between the thigh ring (2B1) and the thigh mounting panel (2B4), and the thigh limit hole (2B2) Thigh lug (2B3) is arranged inside; Thigh external gear (1A) is installed on the thigh ring (2B1); AB rotating shaft (12A) is installed on the thigh lug (2B3); The first rectangular body (2K1) and The second rectangular body (2K2) is placed in parallel and one end is fixed on the thigh mounting panel (2B4), and the other end is fixed to the thigh shell (2A); the third rectangular body (2K3) and the fourth rectangular body (2K4) are placed in parallel And one end is fixed on the thigh mounting panel (2B4), and the other end is fixed to the thigh shell (2A);

The upper end of the thigh connecting rod (2C) is provided with a BD through hole (2C1), and the lower end of the thigh connecting rod (2C) is provided with a BE through hole (2C2); on the one hand, the BD through hole (2C1) is used to place the BB bearing (21D) , the BD through hole (2C1) on the other hand is used for the BA screw (21E) to pass through; the BE through hole (2C2) is used to place the BD bearing (22D) on the one hand, and the BE through hole (2C2) is used for the BB screw on the other hand (22E) through;

The connecting plate (2D) under the thigh is provided with a BF through hole (2D1), the BF through hole (2D1) is used to place the BE bearing (23B), and the BE bearing (23B) is socketed on the BC rotating shaft (23A);

Thigh gravity balance coefficient adjustment assembly (2E) includes spring, lead screw, guide rail and slider; BA guide rail (2G1), BB guide rail (2G2), thigh BA screw seat (2E5) and thigh BB screw seat (2E6) Fixed on the thigh mounting panel (2B4) of the thigh cover (2B); the BA slider (2H1) is movably connected to the BA guide rail (2G1); the BB slider (2H2) is movably connected to the BB guide rail (2G2);

The thigh nut (2E4) is socketed on the thigh screw (2E3); the thigh nut (2E4) is provided with a BC strut (2E4A), a screw hole (2E4C), and a BD strut (2E4B); the BC strut (2E4A) is used for BA spring (2E1) has BA spring lower hook (2E1B); BD strut (2E4B) is used to hook BB spring (2E2) and BB spring lower hook (2E2B); screw hole (2E4C) is used for thigh One end of the lead screw (2E3) passes through; the outer end of the BC pillar (2E4A) is provided with a BF threaded hole for installing the BF screw (2E4E); the outer end of the BD pillar (2E4B) is provided with a threaded hole for installing the BG screw (2E4F) BG threaded hole (2E4D); one panel of BG screw (2E4F) is fixed on the BB slider (2H2); BG screw (2E4F) is fixed on the thigh mounting panel (2B4);

The boss of the thigh BA screw seat (2E5) is provided with a countersunk through hole (2E51) for placing the upper end of the thigh screw (2E3), and the lower end of the countersunk through hole (2E51) is installed with a BG bearing (2E52). (2E52) is socketed on the upper end of the thigh screw (4E3); the thigh BA screw seat (2E5) is fixed on the thigh mounting panel (2B4);

The thigh BB screw seat (2E6) is L-shaped, one end is fixed on the thigh mounting panel (2B4), and the other end is provided with a BK through hole (2E61) for the thigh screw (2E3) to pass through;

The upper end of the thigh screw (2E3) passes through the central through hole of the BG bearing retaining ring (2M), the BG bearing (2L), the BK through hole (2E61) of the thigh BB screw seat (2E6), the thigh nut (2E4 ) behind the lead screw hole (2E4C), and place it in the countersunk through hole (2E51) of the thigh BA screw seat (2E5); the thigh adjustment handle (2N) is connected to the lower end of the thigh screw (2E3); The thigh adjustment handle (2N) is used to adjust the position of the thigh nut (2E4) on the thigh screw (2E3), thereby adjusting the preload of the BA spring (2E1) and BB spring (2E2);

The BA connector (2J) consists of a wire winding body and two screws (2J5, 2J6), and the wire winding body is provided with a BA pillar (2J1), a first wire winding body (2J3), and a second wire winding body (2J4) And BB strut (2J2); BA strut (2J1) is used to hook BA spring (2E1) some BA spring hook (2E1A); BB strut (2J2) is used to hook BB spring (2E2) some BB spring Hook (2E2A); there is a thigh winding gap (2J-1) between the first winding body (2J3) and the second winding body (2J4); the thigh winding gap (2J-1) is used for winding and binding The lower end of the Bowden wire; the outer end of the BA pillar (2J1) has a BD threaded hole for installing the BD screw (2J5); the outer end of the BB pillar (2J2) has a BE threaded hole for installing the BE screw (2J6) ( 2J21); the first winding body (2J3) is provided with a BI through hole (2J31), and the screw passing through the BI through hole (2J31) is fixed on the BA slider (2H1); on the second winding body (2J4) There is a BH through hole (2J41), and the screw passing through the BH through hole (2J41) is fixed on the BA slider (2H1);

The BA Bowden wire fixing part (2F1) is provided with a BM through hole (2F12) for the BA cap (2F11) to pass through; the BB Bowden wire fixing part (2F2) is provided with a BB cap (2F21) for passing through BL through hole (2F22); BA Bowden wire fixing piece (2F1) and BB Bowden wire fixing piece (2F2) are respectively fixed on the thigh cover (2B); BA tube cap (2F11) and BB tube cap (2F21 ) is used to pass the Bowden wire of the thigh part; one end of the Bowden wire of the thigh part is fixed on the thigh lock (1D), and the other end passes through the BA tube cap (2F11) and the BB tube cap (2F21) in sequence, and then winds On the BA connector (2J);

BA rotating shaft unit comprises BA rotating shaft (21A), BA bearing (21B), BA pressure plate (21C), BB bearing (21D) and BA screw (21E); BA rotating shaft (21A) in BA rotating shaft unit A BA connection plate (21A1) and a BA shaft (21A2) are provided; the axial center of the BA rotation shaft (21A) is a BA threaded hole (21A3); the BA connection plate (21A1) of the BA rotation shaft (21A) is fixed on The AC through hole (1E4) of the A lower panel (1E2) of the thigh connector (1E); the BA bearing (21B) is sleeved on the BA shaft (21A2); the middle part of the BA pressure plate (21C) is provided with a BA through hole ( 21C1), the BA through hole (21C1) is used to place the BB bearing (21D); the BA connection plate (21A1) of the BA rotating shaft (21A) is fixed on the A lower panel (1E2) of the thigh connector (1E), and the BA rotation After the BA shaft (21A2) of the shaft (21A) passes through the BA bearing (21B) and the BB bearing (21D), install the BA screw (21E) in the BA threaded hole (21A3) at the end; through the BA screw (21E) The connection with the BA rotating shaft (21A) realizes that the BB bearing (21D) is installed in the BA through hole (21C1) of the BA pressure plate (21C), and at the same time, because the BA pressure plate (21C) is fixed on the upper end of the thigh link (2C) BD through hole (2C1), thereby realizing the connection of the upper end of the BA rotating shaft unit and the thigh link (2C);

BB rotating shaft unit comprises BB rotating shaft (22A), BC bearing (22B), BB pressing plate (22C), BD bearing (22D) and BB screw (22E); On the BB rotating shaft (22A) in the BB rotating shaft unit There is a BB connecting disc (22A1) and a BB shaft (22A2); the axial center of the BB rotating shaft (22A) is a BB threaded hole (22A3); the BB connecting disc (22A1) of the BB rotating shaft (22A) is fixed on One end of the connecting plate (2D) under the thigh; the BC bearing (22B) is sleeved on the BB shaft (22A2); the BB through hole (22C1) is provided in the middle of the BB pressure plate (22C), and the BB through hole (22C1) is used to place BD bearing (22D); the BB connecting plate (22A1) of the BB rotating shaft (22A) is fixed at the BE through hole (2C2) at the lower end of the thigh connecting rod (2C), and the BB shaft (22A2) of the BB rotating shaft (22A) passes through After passing the BC bearing (22B) and BD bearing (22D), install the BB screw (22E) in the BB threaded hole (22A3) at the end; through the connection between the BB screw (22E) and the BB rotating shaft (22A), the The BD bearing (22D) is installed in the BB through hole (22C1) of the BB pressure plate (22C), and because the BB pressure plate (22C) is fixed at the BE through hole (2C2) at the lower end of the thigh link (2C), thereby realizing BB The connection between the rotating shaft unit and the lower end of the thigh link (2C);

BC rotating shaft unit comprises BC rotating shaft (23A), BE bearing (23B), BC pressure plate (23C), BF bearing (23D) and BC screw (23E); On the BC rotating shaft (23A) in BC rotating shaft unit A BC connection plate (23A1) and a BC shaft (23A2) are provided; the axial center of the BC rotation shaft (23A) is a BC threaded hole (23A3); the BC connection plate (23A1) of the BC rotation shaft (23A) is fixed on The lower end of the thigh cover (2B), and the BC shaft (23A2) of the BC rotation shaft (23A) is sleeved with a BE bearing (23B), and the BE bearing (23B) is placed in the BF through hole of the lower thigh connecting plate (2D) (2D1); the middle part of the BC pressure plate (23C) is provided with a BC through hole (23C1), and the BC through hole (23C1) is used to place the BF bearing (23D); the BC connection plate (23A1) of the BC rotating shaft (23A) is fixed At the lower end of the thigh cover (2B), after the BC shaft (23A2) of the BC rotation shaft (23A) passes through the BE bearing (23B) and the BF bearing (23D), install it in the BC threaded hole (23A3) at the end BC screw 23E; the BF bearing (23D) is installed in the BC through hole (23C1) of the BC pressure plate (23C) through the connection of the BC screw (23E) and the BC rotating shaft (23A), and the BC pressure plate (23C) is fixed at the same time At the BF through hole (2D1) of the lower thigh connecting plate (2D), the connection between the BC rotation axis unit and the lower thigh connecting plate (2D) is realized;

Knee joint (3) consists of calf external gear (3A), calf internal gear (3B), calf stopper (3C), calf lock (3D), calf link (3E), calf upper rotation shaft unit and calf lower rotation A shaft unit is formed; the rotating shaft unit on the shank includes a CA rotating shaft (31A), a CA bearing (31B), a CA pressing plate (31C), a CB bearing (31D) and a CA screw (31E); the lower leg rotating shaft The unit includes CB rotating shaft (32A), CC bearing (32B), CC pressure plate (32C), CD bearing (32D), CB screw (32E), CA angle encoder (32F), CC pressure plate (32G) and CB angle Encoder(32H);

A CB through hole (3E1) and a CC through hole (3E2) are provided on the shank connector (3E); the CB through hole (3E1) is used to place the CA bearing (31B), and the CA bearing (31B) is sleeved on the CA rotation On the shaft of the shaft (31A), that is, the CA rotating shaft (31A) sleeved with the CA bearing (31B) passes through the CB through hole (3E3); the CB through hole (3E1) is fixed with a CA pressure plate (31C); The CC through hole (3E2) is used to place the CC bearing (32B), and the CC bearing (32B) is sleeved on the shaft of the CC rotating shaft (32A), that is, the CC rotating shaft (32A) is sleeved with the CC bearing (32B). ) through the CC through hole (3E4); the CC through hole (3E2) is fixed with a CB pressure plate (32C);

The CA rotating shaft (31A) in the rotating shaft unit on the calf is provided with a CA connection plate (31A1) and a CA shaft (31A2); the axial center of the CA rotating shaft (31A) is a CA threaded hole (31A3); The CA connection plate (31A1) of the rotating shaft (31A) is fixed on one side disc of the calf internal gear (3B); the CA bearing (31B) is sleeved on the CA shaft (31A2); the middle part of the CA pressure plate (31C) is provided with The CD through hole (31C1), the CD through hole (31C1) is used to place the CB bearing (31D); the CA connection plate (31A1) of the CA rotating shaft (31A) is fixed on one side disc of the calf internal gear (3B), CA After the CA shaft (31A2) of the rotating shaft (31A) passes through the CA bearing (31B) and the CB bearing (31D), install the CA screw (31E) in the CA threaded hole (31A3) at the end; pass the CA screw (31E ) is connected with the CA rotating shaft (31A) to install the CB bearing (31D) in the CD through hole (31C1) of the CA pressure plate (31C), and at the same time, because the CA pressure plate (31C) is fixed on the CB of the lower leg connector (3E) through the hole (3E1), so as to compress the CA pressure plate (31C) through the CA screw (31E);

CB connecting plate (32A1) and CB shaft (32A2) are arranged on the CB rotating shaft (32A) in the lower leg rotating shaft unit; The axial center of described CB rotating shaft (32A) is CB threaded hole (32A3); CB The CB connection plate (32A1) of the rotating shaft (32A) is fixed at the calf lug (4B3) of the calf cover (4B); the CB bearing (32B) is sleeved on the CB shaft (32A2); the CB pressure plate (32C) There is a CE through hole (32C1) in the middle, and the CE through hole (32C1) is used to place the CD bearing (32D); the middle part of the CC platen (32G) is provided with a CF through hole (32G1), and the CF through hole (32G1) is used to place CB angle encoder (32H); C countersunk hole (32E1) for placing CA angle encoder (32F) on the end face of CB screw (32E); fixed by CB connection plate (32A1) of CB rotation shaft (32A) At the CC through hole (3E4) of the C lower panel (3E2) of the shank connector (3E), after the CB shaft (32A2) of the CB rotating shaft (32A) passes through the CC bearing (32B) and the CD bearing (32D), Install the CB screw (32E) in the CB threaded hole (32A3) at the end; through the connection between the CB screw (32E) and the CB rotating shaft (32A), the CD bearing (32D) is installed on the CE of the CB pressure plate (32C) In the through hole (32C1), at the same time, since the CB pressure plate (32C) is fixed at the CC hole (3E2) of the shank connector (3E), the CB pressure plate (32C) can be compressed by the CB screw (32E); the CB pressure plate ( 32C) is fixedly installed with a CC clamp (32G), the CB angle encoder (32H) installed in the CF through hole (32G1) of the CC clamp (32G) and the C counterbore (32E1) installed in the CB screw (32E) ) to cooperate with the CA angle encoder (32F) to obtain the movement angle of the upper part of the calf cover (2B) relative to the C lower panel (3E2) of the calf connector (3E);

Movement of calf internal gear movement assembly: under the actuation of calf internal gear (3B), CA rotating shaft (31A) rotates around CD through hole (31C1) of CA pressure plate (31C), and inside the CD through hole (31C1) Install the CA bearing (31B), install the CB bearing (31D) in the CB through-hole (3E3) of the calf connector (3E), and screw the CA screw (31E) into the CA threaded hole (31A3) of the CA rotating shaft (31A). Among them, the axial fixation of the bearing is achieved by pressing the CA screw (31E), so that the axis of the CA rotating shaft (31A) rotates around the CB through hole (3E3) of the lower leg connector (3E);

Movement of the knee joint movement assembly: under the actuation of the calf external gear (3A), the CB rotation shaft (32A) rotates around the CE through hole (32C1) of the CB pressure plate (32C), and the CE through hole (32C1) is installed The CC bearing (32B) then rotates around the CC through hole (3E4) of the shank connector (3E); on the one hand, the CB screw (32E) is installed in the CB threaded hole (32A3) at the end of the CB rotating shaft (32A), and the CB The CA angle encoder (32F) is installed at the end of the screw (32E); on the other hand, the CC clamp (32G) is fixed on the CB clamp (32C), and the CB is installed in the CF through hole (32G1) of the CC clamp (32G). Angle encoder (32H); through the combination of CA angle encoder (32F) and CB angle encoder (32H), the movement angle of the shank shell relative to the shank connector (3E), that is, the movement angle of the knee joint is obtained;

The knee joint (3) consists of a first guide rod (3F), a second guide rod (3G), a first guide rod base (3H), a second guide rod base (3J), a third guide rod base (3K) and a first guide rod base (3K) Composed of four guide rod bases (3L);

The lower end of the first guide rod (3F) is provided with a CA through hole (3F1); the lower end of the second guide rod (3G) is provided with a CB through hole (3G1); the first guide rod seat (3H) is provided with a CA transverse hole (3H1) and CA longitudinal hole (3H2); the first guide rod seat (3H) is fixed on the lower thigh connecting plate (2D) by screws; the CA longitudinal hole (3H2) is used to place the upper end of the first guide rod (3F) ; The CA transverse hole (3H1) is used for the top screw to pass through, and the jack screw passing through the CA transverse hole (3H1) tightens the first guide rod (3F) in the CA longitudinal hole (3H2); the second guide rod The seat (3J) is provided with a CB transverse hole (3J1) and a CB longitudinal hole (3J2); the second guide rod seat (3J) is fixed on the connecting plate (4C) on the shank by screws; the CB longitudinal hole (3J2) is used for Place the lower end of the first guide rod (3F); the CB transverse hole (3J1) is used for the top screw to pass through, and the jack screw passing through the CB transverse hole (3J1) will tighten the first guide rod (3F) on the CB longitudinal In the hole (3J2); the third guide rod seat (3K) is provided with a CC horizontal hole (3K1) and a CC longitudinal hole (3K2); the third guide rod seat (3K) is fixed on the connecting plate (2D) under the thigh by screws top; the CC longitudinal hole (3K2) is used to place the upper end of the second guide rod (3G); the CC transverse hole (3K1) is used for the top wire to pass through, and the top wire passing through the CC transverse hole (3K1) connects the second The guide rod (3G) is tightened in the CC longitudinal hole (3K2); the fourth guide rod seat (3L) is provided with a CD transverse hole (3L1) and a CD longitudinal hole (3L2); the fourth guide rod seat (3L) passes through The screw is fixed on the connecting plate (4C) on the lower leg; the CD longitudinal hole (3L2) is used to place the upper end of the second guide rod (3G); the CD transverse hole (3L1) is used for the top wire to pass through the CD transverse The jacking wire in the hole (3L1) tightens the second guide rod (3G) in the CD longitudinal hole (3L2);

After the lower end of the first guide rod (3F) passes through the CA longitudinal hole (3H2) of the first guide rod base (3H) and the CB longitudinal hole (3J2) of the second guide rod base (3J) in sequence, and the first guide rod The lower end of the rod (3F) is exposed outside the lower end of the second guide rod seat (3J);

The lower end of the second guide rod (3G) passes through the CC longitudinal hole (3K2) of the third guide rod base (3K) and the CD longitudinal hole (3L2) of the fourth guide rod base (3L) in sequence, and the second guide rod The lower end of the rod (3G) is exposed outside the lower end of the fourth guide rod seat (3L);

The calf (4) consists of a calf shell (4A), a calf cover (4B), a calf upper connection plate (4C), a DA rotation axis unit, a DB rotation axis unit, a DC rotation axis unit and a thigh gravity balance coefficient adjustment assembly (4E) constitute;

The lower panel (4A2) of the calf housing (4A) is provided with a DH through hole (4A21) for passing through the upper end of the calf lead screw (4E3) in the calf gravity balance coefficient adjustment assembly (4E);

The upper end of the calf cover plate (4B) is a calf ring (4B1), and a calf limit hole (4B2) is provided between the calf ring (4B1) and the calf mounting panel (4B4), and the calf limit hole (4B2) The calf lug (4B3) is arranged inside; the calf external gear (1A) is installed on the calf ring (4B1); the AB rotating shaft (12A) is installed on the calf lug (4B3); the fifth rectangular body (4K1) and The sixth rectangular body (4K2) is placed in parallel and one end is fixed on the lower leg mounting panel (4B4), and the other end is fixed to the lower leg shell (4A); the seventh rectangular body (4K3) and the eighth rectangular body (4K4) are placed in parallel And one end is fixed on the lower leg mounting panel (4B4), and the other end is fixed to the lower leg shell (4A);

Calf gravity balance coefficient adjustment assembly (4E) includes spring, lead screw, guide rail and slider; DA guide rail (4G1), DB guide rail (4G2), calf DA screw seat (4E5) and calf DB screw seat (4E6) It is fixed on the calf mounting panel (4B4) of the calf cover (4B); the DA slider (4H1) is movably connected to the DA guide rail (4G1); the DB slider (4H2) is movably connected to the DB guide rail (4G2);

The shank nut (4E4) is socketed on the shank lead screw (4E3), and the shank nut (4E4) is fixed on the DB slider (4H2); the shank nut (4E4) is provided with a DC support (4E4A), a screw hole ( 4E4C), DD strut (4E4B); DC strut (4E4A) is used to hook DA spring (4E1) and some DA spring hooks (4E1B); DD strut (4E4B) is used to hang DB spring (4E2) and some DB Hook under spring (4E2B); lead screw hole (4E4C) for one end of leg screw (4E3) to pass through; outer end of DC strut (4E4A) has DF threaded hole for mounting DF screw (4E4E); DD strut (4E4B) has a DG threaded hole (4E4D) at the outer end for mounting the DG screw (4E4F); one panel of the DG screw (4E4F) is fixed on the DB slider (4H2); the DG screw (4E4F) is fixed on the calf mount on the panel (4B4);

The boss of the lower leg DA screw seat (4E5) is provided with a countersunk through hole (4E51) for placing the upper end of the lower leg screw (4E3), and the lower end of the countersunk through hole (4E51) is installed with a DG bearing (4E52). (4E52) is socketed on the upper end of the lower leg screw (4E3); the lower leg DA screw seat (4E5) is fixed on the lower leg mounting panel (4B4);

One end of the shank DB screw seat (4E6) is fixed on the shank mounting panel (4B4), and the other end is provided with a DK through hole (4E61) for the shank screw (4E3) to pass through;

The installation of the lower leg screw (4E3) is that the upper end of the lower leg screw (4E3) passes through the central through hole of the DG bearing retaining ring (4M), the DG bearing (4L), and the DK of the lower leg DB screw seat (4E6). After the through hole (4E61) and the lead screw hole (4E4C) of the shank nut (4E4), place it in the countersunk through hole (4E51) of the shank DA screw seat (4E5); the lower end of the shank screw (4E3) is connected with Calf adjustment handle (4N); by turning the calf adjustment handle (4N) left and right, it is used to adjust the position of the calf nut (4E4) on the calf screw (4E3), thereby adjusting the preload of the DA spring (4E1) and DB spring (4E2). tension;

The DA connector (4J) is composed of a thread winding body and two screws (4J5, 4J6), and the thread winding body is provided with a DA pillar (4J1), a first thread winding body (4J3), and a second thread winding body (4J4) And DB strut (4J2); DA strut (4J1) is used to hook DA spring (4E1) some DA spring hook (4E1A); DB strut (4J2) is used to hang DB spring (4E2) some DB spring Hook (4E2A); between the first thread winding body (4J3) and the second thread winding body (4J4) is the calf thread winding gap (4J-1); the calf thread winding gap (4J-1) is used for winding and binding The lower end of the Bowden wire; the outer end of the DA pillar (4J1) has a DD threaded hole for installing the DD screw (4J5); the outer end of the DB pillar (4J2) has a DE threaded hole for installing the DE screw (4J6) ( 4J21); the first winding body (4J3) is provided with a DI through hole (4J31), and the screw passing through the DI through hole (4J31) is fixed on the DA slider (4H1); on the second winding body (4J4) There is a DH through hole (4J41), and the screw passing through the DH through hole (4J41) is fixed on the DA slider (4H1).

The advantages of the gravity self-balancing lower limb exoskeleton structure of the present invention are:

①The hip joint and knee joint on the structure of the present invention use the same rotating shaft to cooperate with the large and small gears, and combine the springs of the thigh and calf with the lead screw to realize the mapping of the rotational motion of the joint to a feature point along the axis of the swing link The way of linear motion allows the linear spring to be installed inside the connecting rod of the exoskeleton, and during the joint movement, a corresponding moment can be formed to balance the gravity of the entire man-machine system.

②The structure of the present invention uses spring pre-storage energy to provide assistance to the wearer. It is a passive lower extremity exoskeleton structure, which overcomes the shortcomings of the active lower extremity exoskeleton, such as insufficient followability and limited flight storage capacity.

③The hip joint designed by the present invention utilizes the combination of double rotating shafts and gears with a radius ratio of 2:1 for the large and small gears, and the ratio of the angle between the movement of the internal thigh gear and the movement of the hip joint is also 2:1. At the same time, the knee joint also uses the combination of double rotating shafts and gears with a radius ratio of 2:1 between the large and small gears, so that the angle ratio between the internal gear movement of the calf and the knee joint movement is also 2:1.

4. The knee joint designed by the present invention cooperates with auxiliary rotating shafts, connecting rods, double rotating shafts and large and small gears, so that the motion length of the knee joint is adjustable.

⑤ The spring preload force on the hip joint and knee joint designed by the present invention is realized by adjusting the position of the screw nut on the lead screw, and it is manually adjusted, which expands the application range of the structure.

Description of drawings

Fig. 1 is a structural diagram of the gravity self-balancing lower limb exoskeleton structure of the present invention.

Fig. 1A is another perspective structure diagram of the gravity self-balancing lower limb exoskeleton structure of the present invention.

Fig. 1B is a partial structural view of the knee joint, thigh and calf of the gravity self-balancing lower extremity exoskeleton structure of the present invention.

Fig. 2 is a structural diagram of the combination of the thigh part and the hip joint of the gravity self-balancing lower limb exoskeleton structure of the present invention.

Fig. 2A is another perspective structure diagram of the thigh part of the gravity self-balancing lower limb exoskeleton structure of the present invention.

Fig. 2B is a structural diagram of the thigh part of the gravity self-balancing lower limb exoskeleton structure of the present invention.

Fig. 2C is an exploded view of the thigh part of the gravity self-balancing lower limb exoskeleton structure of the present invention.

Fig. 2D is another perspective exploded view of the thigh part of the gravity self-balancing lower limb exoskeleton structure of the present invention.

Fig. 3 is a structural diagram of the combination of the knee joint and the calf part of the gravity self-balancing lower limb exoskeleton structure of the present invention.

Fig. 3A is another structural view of the combination of the knee joint and the calf part of the gravity self-balancing lower limb exoskeleton structure of the present invention.

Fig. 3B is a cross-sectional view of the upper shaft of the calf in the knee joint of the present invention.

Fig. 3C is a cross-sectional view of the lower shaft of the calf in the knee joint of the present invention.

Fig. 3D is an exploded view of the calf shaft in the knee joint of the present invention.

Fig. 3E is a structural diagram of the calf limiter in the knee joint of the present invention.

Fig. 3F is a structural view of the guide rod part in the knee joint of the present invention.

Figure 3G is an exploded view of the guide rod portion of the knee joint of the present invention.

Fig. 4 is a structural diagram of the combination of the lower leg part and the knee joint of the gravity self-balancing lower limb exoskeleton structure of the present invention.

Fig. 4A is an exploded view of the calf part and the rotation axis of the knee joint of the gravity self-balancing lower limb exoskeleton structure of the present invention.

Fig. 4B is a structural diagram of the calf portion of the gravity self-balancing lower limb exoskeleton structure of the present invention.

Fig. 4C is an exploded view of the calf part of the gravity self-balancing lower limb exoskeleton structure of the present invention.

Fig. 5 is a structural diagram of the hip joint in the gravity self-balancing lower limb exoskeleton structure of the present invention.

Fig. 5A is a cross-sectional structure diagram of the upper rotation axis unit in the hip joint of the present invention.

Fig. 5B is a cross-sectional structure diagram of the middle and lower rotation axis unit of the hip joint of the present invention.

Fig. 5C is a front view structural view of the hip joint of the present invention.

Fig. 5D is a structural diagram of the hip joint of the present invention.

Fig. 5E is another structural view of the hip joint of the present invention.

Figure 5F is an exploded view of the hip joint of the present invention.

Fig. 5G is a structural view of the thigh limiter in the hip joint of the present invention.

Fig. 6 is a schematic diagram of the movement principle of the thigh part of the present invention.

Fig. 7 is a schematic diagram of the movement principle of the calf part of the present invention.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

The present invention designs a passive, compact, gravity self-balancing lower extremity exoskeleton structure, which includes a hip joint 1, a thigh 2, a knee joint 3, and a calf 4, as well as an auxiliary waist designed for easy wearing with the human body. Board 5, thigh auxiliary board 6 and calf auxiliary board 7. The upper end of the thigh is the hip joint, and the lower end of the thigh and the upper end of the calf is the knee joint.

Hip 1

Referring to Fig. 1, Fig. 1A, Fig. 5, Fig. 5A, Fig. 5B, Fig. 5C, Fig. 5D, and Fig. 5F, the hip joint 1 is composed of a thigh external gear 1A, a thigh internal gear 1B, a thigh limiter 1C, and a thigh lock 1D , thigh connecting piece 1E, upper thigh rotating shaft unit and lower thigh rotating shaft unit; the upper thigh rotating shaft unit (as shown in Figure 5A) includes AA rotating shaft 11A, AA bearing 11B, AA pressing plate 11C, and AB bearing 11D and AA screw 11E; the lower thigh rotation shaft unit (as shown in Figure 5B) includes AB rotation shaft 12A, AC bearing 12B, AC pressure plate 12C, AD bearing 12D, AB screw 12E, AA angle encoder 12F, AC Platen 12G and AB angle encoder 12H. Wherein, the radius ratio of the thigh external gear 1A to the thigh internal gear 1B is 2:1. The ratio of the angle of movement of the inner thigh gear to the movement of the hip joint is 2:1.

As shown in FIG. 5F , the thigh external gear 1A is a semicircular ring structure provided with internal teeth 1A1 .

As shown in FIG. 5F , the internal thigh gear 1B is a disc structure provided with external teeth 1B1 . The AA connection plate of the AA rotating shaft 11A is fixed on one disc of the thigh internal gear 1B, and the thigh limiter 1C is fixed on the other disc of the thigh internal gear 1B.

As shown in Figure 5F and Figure 5G, a lock pin 1C1 is provided on the thigh limiter 1C, and a vertical lock hole 1C2, an AA through hole 1C3 and a limit groove 1C4 are arranged on the lock pin 1C1, and the vertical lock hole 1C2 The deadbolt 1D1 for the thigh lock 1D passes through. The horizontal lock column 1D2 of the thigh lock 1D passing through the vertical lock hole 1C2 is placed in the AA through hole 1C3. The vertical lock column 1D1 of the thigh lock 1D moves in the limiting groove 1C4 of the thigh limiting member 1C.

As shown in FIG. 5F , the thigh lock 1D is provided with a horizontal locking cylinder 1D2 and a vertical locking cylinder 1D1 .

As shown in Fig. 5F, Fig. 5A and Fig. 5B, an upper panel 1E1 of A and a lower panel 1E2 of A are arranged on the thigh connector 1E. The A upper panel 1E1 is used to be fixed to one end of the EA connecting plate 5A of the waist auxiliary panel 5 . The A lower panel 1E2 is provided with an AB through hole 1E3 and an AC through hole 1E4. The AB through hole 1E3 is used to place the AA bearing 11B, and the AA bearing 11B is sleeved on the shaft of the AA rotating shaft 11A, that is, the AA rotating shaft 11A sleeved with the AA bearing 11B passes through the AB through hole 1E3. AA pressing plate 11C is fixed at the AB through hole 1E3. (As shown in Figure 5B) the AC through hole 1E4 is used to place the AC bearing 12B, and the AC bearing 12B is sleeved on the shaft of the AC rotating shaft 12A, that is, the AC rotating shaft 12A sleeved with the AC bearing 12B passes through the AC through hole. Hole 1E4. An AB pressing plate 12C is fixed at the AC through hole 1E4.

The AA rotating shaft 11A in the rotating shaft unit on the thigh is provided with an AA connecting plate 11A1 and an AA shaft 11A2; the axial center of the AA rotating shaft 11A is an AA threaded hole 11A3. The AA connection plate 11A1 of the AA rotating shaft 11A is fixed on one side disc of the inner thigh gear 1B. An AA bearing 11B is sleeved on the AA shaft 11A2. The middle part of AA pressing plate 11C is provided with AD through hole 11C1, and AD through hole 11C1 is used for placing AB bearing 11D. As shown in Fig. 5A, the assembly of the rotating shaft unit on the thigh is that the AA connection plate 11A1 of the AA rotating shaft 11A is fixed on one side disc of the inner thigh gear 1B, and the AA shaft 11A2 of the AA rotating shaft 11A passes through the AA bearing 11B and After the AB bearing 11D, install the AA screw 11E in the AA threaded hole 11A3 at the end. The AB bearing 11D is installed in the AD through hole 11C1 of the AA pressure plate 11C through the connection of the AA screw 11E and the AA rotation shaft 11A, and at the same time, because the AA pressure plate 11C is fixed at the AB through hole 1E3 of the A lower panel 1E2 of the thigh connector 1E , so as to compress the AA pressure plate 11C through the AA screw 11E.

The AB rotating shaft 12A in the rotating shaft unit under the thigh is provided with an AB connecting plate 12A1 and an AB shaft 12A2; the axial center of the AB rotating shaft 12A is an AB threaded hole 12A3. The AB connection plate 12A1 of AB rotating shaft 12A is fixed on the thigh lug 2B3 place of thigh cover plate 2B. The AB shaft 12A2 is sleeved with an AB bearing 12B. The middle part of the AB pressing plate 12C is provided with an AE through hole 12C1, and the AE through hole 12C1 is used for placing the AD bearing 12D. The middle part of the AC pressing plate 12G is provided with an AF through hole 12G1, and the AF through hole 12G1 is used for placing the AB angle encoder 12H. A counterbore 12E1 for placing the AA angle encoder 12F is provided on the end surface of the AB screw 12E. As shown in Figure 5B, the assembly of the rotation shaft unit under the thigh is that the AB connection plate 12A1 of the AB rotation shaft 12A is fixed at the AC through hole 1E4 of the A lower panel 1E2 of the thigh connector 1E, and the AB shaft 12A2 of the AB rotation shaft 12A After passing through the AC bearing 12B and the AD bearing 12D, install the AB screw 12E in the AB threaded hole 12A3 at the end. Through the connection of the AB screw 12E and the AB rotation shaft 12A, the AD bearing 12D is installed in the AE through hole 12C1 of the AB pressure plate 12C, and because the AB pressure plate 12C is fixed at the AC hole 1E4 of the A lower panel 1E2 of the thigh connector 1E, In this way, the AB pressing plate 12C can be pressed by the AB screw 12E. An AC pressure plate 12G is fixedly installed on the AB pressure plate 12C, and the AB angle encoder 12H installed in the AF through hole 12G1 of the AC pressure plate 12G cooperates with the AA angle encoder 12F installed in the A countersunk hole 12E1 of the AB screw 12E, Obtain the movement angle of the upper part of the thigh cover 2B relative to the A lower panel 1E2 of the thigh link 1E.

The gravity self-balancing lower extremity exoskeleton structure designed by the present invention is worn on the human body. The movement of the hip joint 1 of the present invention is: when the thigh external gear 1A drives the thigh internal gear 1B to move, the thigh stopper 1C moves along with the thigh internal gear 1A. The gear 1B moves to form the movement mode of the thigh (standing state-bending state-extending state, as shown in Figure 6). The movement mode of the thigh makes the BA spring 2E1 and the BB spring 2E2 form a force arm to the rotation center of the thigh internal gear 1B. Due to the spring preload and the auxiliary moment generated by the moment arm, the gravitational moment generated when the thigh moves is overcome.

The movement of the thigh internal gear movement assembly: under the actuation of the thigh internal gear 1B, the AA rotating shaft 11A rotates around the AD through hole 11C1 of the AA pressure plate 11C, and the AA bearing 11B is installed in the AD through hole 11C1, and the AB bearing 11D is installed in the In the AB through hole 1E3 of the thigh connector 1E, the AA screw 11E is screwed into the AA threaded hole 11A3 of the AA rotating shaft 11A, and the axial fixing of the bearing is realized by pressing the AA screw 11E, so that the axis center of the AA rotating shaft 11A revolves around Turn around the AB through hole 1E3 of the thigh link 1E.

The movement of the hip joint movement assembly: under the actuation of the thigh external gear 1A, the AB rotation axis 12A rotates around the AE through hole 12C1 of the AB pressure plate 12C, and the AC bearing 12B is installed in the AE through hole 12C1, and then around the thigh connecting piece The AC through hole 1E4 of 1E rotates; on the one hand, the AB screw 12E is installed in the AB threaded hole 12A3 at the end of the AB rotating shaft 12A, and the AA angle encoder 12F is installed at the end of the AB screw 12E; on the other hand, the AC pressure plate 12G is fixed on the AB pressure plate 12C, and the AB angle encoder 12H is installed in the AF through hole 12G1 of the AC pressure plate 12G. Through the combination of AA angle encoder 12F and AB angle encoder 12H, the movement angle of the thigh shell (thigh shell 2A and thigh cover 2B) relative to the thigh link 1E, that is, the movement angle of the hip joint is obtained.

thigh 2

Referring to Fig. 1, Fig. 1A, Fig. 2, Fig. 2A, Fig. 2B, Fig. 5C, Fig. D, and Fig. 5F, the thigh 2 is composed of a thigh shell 2A, a thigh cover plate 2B, a thigh connecting rod 2C, a connecting plate 2D under the thigh, The BA rotation axis unit, the BB rotation axis unit, the BC rotation axis unit and the thigh gravity balance coefficient adjustment assembly 2E are composed.

As shown in FIG. 2A , the thigh shell panel 2A1 of the thigh shell 2A is provided with a BG through hole 2A11 for cables to pass through. The thigh housing lower panel 2A2 of the thigh housing 2A is provided with a BH through hole 2A21 for passing through the upper end of the thigh screw 2E3 in the thigh gravity balance coefficient adjustment assembly 2E.

As shown in Figure 2A and Figure 2B, the upper end of the thigh cover plate 2B is a thigh ring 2B1, and a thigh limit hole 2B2 is provided between the thigh ring 2B1 and the thigh mounting panel 2B4, and a thigh limit hole 2B2 is provided in the thigh limit hole 2B2. Thigh lug 2B3. Thigh external gear 1A is attached to thigh ring 2B1. AB rotating shaft 12A is installed on the thigh lug 2B3. In the present invention, the thigh shell 2A and the thigh cover 2B are connected and fixed through four right-angled bodies (2K1, 2K2, 2K3, 2K4), that is, the first right-angled body 2K1 and the second right-angled body 2K2 are placed in parallel and one end is fixed on the thigh for installation. On the panel 2B4, the other end is fixed to the thigh shell 2A; the third rectangular body 2K3 and the fourth rectangular body 2K4 are placed in parallel and one end is fixed on the thigh mounting panel 2B4, and the other end is fixed to the thigh shell 2A.

As shown in Figure 2A, the upper end of thigh link 2C is provided with BD through hole 2C1, and the lower end of thigh link 2C is provided with BE through hole 2C2. The BD through hole 2C1 is used to place the BB bearing 21D on the one hand, and the BD through hole 2C1 is used for the BA screw 21E to pass through on the other hand. The BE through hole 2C2 is used to place the BD bearing 22D on the one hand, and the BE through hole 2C2 is used for the BB screw 22E to pass through on the other hand.

As shown in Figure 2A, the connecting plate 2D under the thigh is provided with a BF through hole 2D1, and the BF through hole 2D1 is used to place a BE bearing 23B, and the BE bearing 23B is sleeved on the BC rotating shaft 23A.

As shown in Fig. 2A, Fig. 2B and Fig. 2C, the thigh gravity balance coefficient adjustment assembly 2E includes a spring, a lead screw, a guide rail and a slider. BA guide rail 2G1, BB guide rail 2G2, thigh BA screw seat 2E5 and thigh BB screw seat 2E6 are fixed on the thigh mounting panel 2B4 of thigh cover plate 2B. The BA slider 2H1 is movably connected to the BA guide rail 2G1. The BB slider 2H2 is movably connected to the BB guide rail 2G2.

As shown in FIG. 2C , the thigh nut 2E4 is sleeved on the thigh screw 2E3 . Thigh nut 2E4 is provided with BC strut 2E4A, lead screw hole 2E4C, BD strut 2E4B; BC strut 2E4A is used for hooking BA spring 2E1 and BA spring lower hook 2E1B; BD strut 2E4B is used for hooking BB spring 2E2 and BB Hook under the spring 2E2B; lead screw hole 2E4C for one end of thigh screw 2E3 to pass through; outer end of BC strut 2E4A is provided with BF threaded hole for installing BF screw 2E4E; outer end of BD strut 2E4B is provided for installing BG screw BG threaded hole 2E4D for 2E4F. One panel of BG screws 2E4F is fixed on BB slider 2H2. The BG screw 2E4F is fixed to the thigh mounting panel 2B4.

As shown in Figure 2C, the boss of the thigh BA screw seat 2E5 is provided with a countersunk through hole 2E51 for placing the upper end of the thigh screw 2E3, the lower end of the countersunk through hole 2E51 is equipped with a BG bearing 2E52, and the BG bearing 2E52 is sleeved on Upper end of thigh lead screw 4E3. The thigh BA lead screw seat 2E5 is fixed on the thigh mounting panel 2B4.

As shown in FIG. 2C , the thigh BB screw seat 2E6 has an L configuration, one end is fixed on the thigh mounting panel 2B4 , and the other end is provided with a BK through hole 2E61 for the thigh screw 2E3 to pass through.

In the present invention, the installation of the thigh screw 2E3 is that the upper end of the thigh screw 2E3 passes through the central through hole of the BG bearing retaining ring 2M, the BG bearing 2L, the BK through hole 2E61 of the thigh BB screw seat 2E6, the thigh The screw hole 2E4C of the nut 2E4 is placed behind the countersunk through hole 2E51 of the screw seat 2E5 of the thigh BA; the lower end of the screw screw 2E3 of the thigh is connected with a thigh adjusting handle 2N. Rotating the thigh adjustment handle 2N left and right is used to adjust the position of the thigh nut 2E4 on the thigh screw 2E3, thereby adjusting the preload of the BA spring 2E1 and the BB spring 2E2.

As shown in Figure 2C, the BA connector 2J is composed of a wire winding body and two screws (2J5, 2J6). The pillar 2J2; the BA pillar 2J1 is used for hooking the upper hook 2E1A of the BA spring that the BA spring 2E1 has; the BB pillar 2J2 is used for hooking the upper hook 2E2A of the BB spring 2E2. Between the first thread winding body 2J3 and the second thread winding body 2J4 is a thigh thread winding gap 2J-1; the thigh thread winding gap 2J-1 is used for winding and binding the lower end of the Bowden wire. The outer end of the BA pillar 2J1 is provided with a BD threaded hole for installing a BD screw 2J5; the outer end of the BB pillar 2J2 is provided with a BE threaded hole 2J21 for installing a BE screw 2J6. The first winding body 2J3 is provided with a BI through hole 2J31, and the screw passing through the BI through hole 2J31 is fixed on the BA slider 2H1. The second winding body 2J4 is provided with a BH through hole 2J41, and the screw passing through the BH through hole 2J41 is fixed on the BA slider 2H1.

As shown in Figure 2C, the BA Bowden wire fixture 2F1 is provided with a BM through hole 2F12 for the BA cap 2F11 to pass through. The BB Bowden wire fixing part 2F2 is provided with a BL through hole 2F22 for the BB cap 2F21 to pass through. The BA Bowden wire fixing part 2F1 and the BB Bowden wire fixing part 2F2 are respectively fixed on the thigh cover 2B. The BA cap 2F11 and the BB cap 2F21 are used to pass the Bowden wire on the thigh. One end of the Bowden wire of the thigh part is fixed on the thigh lock 1D, and the other end passes through the BA cap 2F11 and the BB cap 2F21 in sequence, and then is wound on the BA connector 2J. Using 2 tube caps to guide the Bowden line of the thigh part is beneficial to prevent the Bowden line of the thigh part from swinging during exercise.

As shown in Fig. 2A, the BA rotating shaft unit includes a BA rotating shaft 21A, a BA bearing 21B, a BA pressing plate 21C, a BB bearing 21D and a BA screw 21E. The BA rotating shaft 21A in the BA rotating shaft unit is provided with a BA connecting plate 21A1 and a BA shaft 21A2; the axial center of the BA rotating shaft 21A is a BA threaded hole 21A3. The BA connection plate 21A1 of the BA rotating shaft 21A is fixed at the AC through hole 1E4 of the A lower panel 1E2 of the thigh connector 1E (as shown in FIG. 5F ). A BA bearing 21B is sleeved on the BA shaft 21A2. The middle part of the BA pressing plate 21C is provided with a BA through hole 21C1, and the BA through hole 21C1 is used for placing the BB bearing 21D. The assembly of the BA rotating shaft unit as shown in Figure 2A is that the BA connection plate 21A1 of the BA rotating shaft 21A is fixed on the A lower panel 1E2 of the thigh connector 1E, and the BA shaft 21A2 of the BA rotating shaft 21A passes through the BA bearing 21B and After installing the BB bearing 21D, install the BA screw 21E in the BA threaded hole 21A3 at the end. The BB bearing 21D is installed in the BA through hole 21C1 of the BA pressure plate 21C through the connection of the BA screw 21E and the BA rotating shaft 21A, and at the same time, the BA pressure plate 21C is fixed at the BD through hole 2C1 at the upper end of the thigh link 2C, thus realizing The connection of the BA rotating shaft unit and the upper end of the thigh link 2C.

As shown in Fig. 2A, the BB rotating shaft unit includes a BB rotating shaft 22A, a BC bearing 22B, a BB pressing plate 22C, a BD bearing 22D and a BB screw 22E. The BB rotating shaft 22A in the BB rotating shaft unit is provided with a BB connecting plate 22A1 and a BB shaft 22A2; the axial center of the BB rotating shaft 22A is a BB threaded hole 22A3. The BB connecting plate 22A1 of the BB rotating shaft 22A is fixed on one end of the connecting plate 2D under the thigh. A BC bearing 22B is sleeved on the BB shaft 22A2. The middle part of the BB pressing plate 22C is provided with a BB through hole 22C1, and the BB through hole 22C1 is used for placing the BD bearing 22D. The assembly of the BB rotating shaft unit as shown in Figure 2A is that the BB connecting plate 22A1 of the BB rotating shaft 22A is fixed at the BE through hole 2C2 at the lower end of the thigh connecting rod 2C, and the BB shaft 22A2 of the BB rotating shaft 22A passes through the BC bearing 22B After connecting the BD bearing 22D, install the BB screw 22E in the BB threaded hole 22A3 at the end. The BD bearing 22D is installed in the BB through hole 22C1 of the BB pressing plate 22C through the connection of the BB screw 22E and the BB rotating shaft 22A, and at the same time, the BB pressing plate 22C is fixed at the BE through hole 2C2 at the lower end of the thigh link 2C, thereby achieving The connection of the BB rotating shaft unit and the lower end of the thigh link 2C.

As shown in FIG. 2C , the BC rotating shaft unit includes a BC rotating shaft 23A, a BE bearing 23B, a BC pressing plate 23C, a BF bearing 23D and a BC screw 23E. The BC rotating shaft 23A in the BC rotating shaft unit is provided with a BC connecting plate 23A1 and a BC shaft 23A2; the axial center of the BC rotating shaft 23A is a BC threaded hole 23A3. The BC connecting plate 23A1 of the BC rotating shaft 23A is fixed on the lower end of the thigh cover plate 2B, and the BC shaft 23A2 of the BC rotating shaft 23A is sleeved with a BE bearing 23B, and the BE bearing 23B is placed in the BF through hole 2D1 of the connecting plate 2D under the thigh (as shown in Figure 2A). A BC through hole 23C1 is provided in the middle of the BC pressure plate 23C, and the BC through hole 23C1 is used for placing the BF bearing 23D. The assembly of the BC rotating shaft unit as shown in Figure 2A is that the BC connection plate 23A1 of the BC rotating shaft 23A is fixed on the lower end of the thigh cover plate 2B, and the BC shaft 23A2 of the BC rotating shaft 23A passes through the BE bearing 23B and the BF bearing 23D. , Install the BC screw 23E in the BC threaded hole 23A3 at the end. The BF bearing 23D is installed in the BC through hole 23C1 of the BC pressure plate 23C through the connection of the BC screw 23E and the BC rotation shaft 23A. At the same time, the BC pressure plate 23C is fixed at the BF through hole 2D1 of the connecting plate 2D under the thigh, thereby realizing BC. The connection of the rotating shaft unit and the lower connecting plate 2D of the thigh.

In the present invention, the two dotted lines drawn as shown in FIG. 2 form a parallelogram through four rotation axes, so as to ensure that the two dotted lines are always kept parallel during the movement of the hip joint. The four rotation axes refer to the BA rotation axis 21A, the AB rotation axis 12A, the BC rotation axis 23A, and the BB rotation axis 22A.

Knee 3

Referring to Fig. 1, Fig. 1A, Fig. 3, Fig. 3A, Fig. 3B, Fig. 3C, and Fig. 3D, the knee joint 3 is connected by the calf external gear 3A, the calf internal gear 3B, the calf limiter 3C, the calf lock 3D, and the calf part 3E, the lower leg rotating shaft unit and the lower leg rotating shaft unit; the lower leg rotating shaft unit (as shown in Figure 3B) includes a CA rotating shaft 31A, a CA bearing 31B, a CA pressure plate 31C, a CB bearing 31D and a CA screw 31E; the lower leg rotating shaft unit (as shown in Figure 3C) includes CB rotating shaft 32A, CC bearing 32B, CC pressing plate 32C, CD bearing 32D, CB screw 32E, CA angle encoder 32F, CC pressing plate 32G and CB angle encoder 32H. Wherein, the radius ratio of the calf external gear 3A to the calf internal gear 3B is 2:1. The ratio of the angle of movement of the internal gears of the calf to the movement of the knee joint is 2:1.

As shown in FIG. 3D , the calf external gear 3A is a semicircular ring structure provided with internal teeth 3A1 .

As shown in FIG. 3D , the calf internal gear 3B is a disc structure provided with external teeth 3B1 . The CA connection plate of the CA rotating shaft 31A is fixed on one disc of the internal calf gear 3B, and the calf limiter 3C is fixed on the other disc of the internal calf gear 3B.

As shown in Fig. 3D and Fig. 3E, a lock pin 3C1 is provided on the calf limiter 3C, and a vertical lock hole 3C2, a CA through hole 3C3 and a limit groove 3C4 are arranged on the lock pin 3C1, and the vertical lock hole 3C2 Vertical occlusion 3D1 for calf lock 3D goes through. The horizontal lock column 3D2 of the calf lock 3D passing through the vertical lock hole 3C2 is placed in the CA through hole 3C3. The vertical lock column 3D1 of the calf lock 3D moves in the limiting groove 3C4 of the calf limiting member 3C.

As shown in FIG. 3D , the calf lock 3D is provided with a horizontal locking cylinder 3D2 and a vertical locking cylinder 3D1 .

As shown in Fig. 3D, Fig. 3B and Fig. 3C, a CB through hole 3E1 and a CC through hole 3E2 are provided on the shank connector 3E. The CB through hole 3E1 is used to place the CA bearing 31B, and the CA bearing 31B is sleeved on the shaft of the CA rotating shaft 31A, that is, the CA rotating shaft 31A sleeved with the CA bearing 31B passes through the CB through hole 3E3. The CB through hole 3E1 is fixed with a CA pressure plate 31C. (As shown in Figure 3C) the CC through hole 3E2 is used to place the CC bearing 32B, and the CC bearing 32B is sleeved on the shaft of the CC rotating shaft 32A, that is, the CC rotating shaft 32A sleeved with the CC bearing 32B passes through the CC through hole. Hole 3E4. A CB pressure plate 32C is fixed at the CC through hole 3E2 .

The CA rotating shaft 31A in the upper leg rotating shaft unit is provided with a CA connection plate 31A1 and a CA shaft 31A2; the axial center of the CA rotating shaft 31A is a CA threaded hole 31A3. The CA connection plate 31A1 of the CA rotating shaft 31A is fixed on one side disc of the shank internal gear 3B. A CA bearing 31B is sleeved on the CA shaft 31A2. The middle part of the CA pressing plate 31C is provided with a CD through hole 31C1, and the CD through hole 31C1 is used for placing the CB bearing 31D. As shown in Figure 3B, the assembly of the rotating shaft unit on the calf is that the CA connecting plate 31A1 of the CA rotating shaft 31A is fixed on a disc of the calf internal gear 3B, and the CA shaft 31A2 of the CA rotating shaft 31A passes through the CA bearing 31B and After the CB bearing 31D, a CA screw 31E is installed in the CA threaded hole 31A3 at the end. Through the connection of the CA screw 31E and the CA rotating shaft 31A, the CB bearing 31D is installed in the CD through hole 31C1 of the CA pressure plate 31C. The screw 31E presses the CA pressure plate 31C.

The CB rotating shaft 32A in the lower leg rotating shaft unit is provided with a CB connection plate 32A1 and a CB shaft 32A2; the axial center of the CB rotating shaft 32A is a CB threaded hole 32A3. The CB connection plate 32A1 of the CB rotating shaft 32A is fixed at the shank lug 4B3 place of the shank cover plate 4B. A CB bearing 32B is sleeved on the CB shaft 32A2. The middle part of the CB pressure plate 32C is provided with a CE through hole 32C1, and the CE through hole 32C1 is used for placing the CD bearing 32D. A CF through hole 32G1 is provided in the middle of the CC pressing plate 32G, and the CF through hole 32G1 is used for placing the CB angle encoder 32H. A C counterbore 32E1 for placing the CA angle encoder 32F is provided on the end surface of the CB screw 32E. As shown in Figure 3C, the assembly of the lower leg rotating shaft unit is that the CB connection plate 32A1 of the CB rotating shaft 32A is fixed at the CC through hole 3E4 of the C lower panel 3E2 of the calf connector 3E, and the CB shaft 32A2 of the CB rotating shaft 32A After passing through the CC bearing 32B and the CD bearing 32D, install a CB screw 32E in the CB threaded hole 32A3 at the end. The CD bearing 32D is installed in the CE through hole 32C1 of the CB pressure plate 32C through the connection of the CB screw 32E and the CB rotating shaft 32A. At the same time, the CB pressure plate 32C is fixed at the CC hole 3E2 of the shank connector 3E, so as to achieve through the CB screw. 32E presses against the CB pressure plate 32C. The CC pressure plate 32G is fixedly installed on the CB pressure plate 32C, and the CB angle encoder 32H installed in the CF through hole 32G1 of the CC pressure plate 32G cooperates with the CA angle encoder 32F installed in the C countersunk hole 32E1 of the CB screw 32E, Obtain the movement angle of the upper part of the calf cover plate 2B relative to the C lower panel 3E2 of the calf connector 3E.

The gravity self-balancing lower extremity exoskeleton structure designed by the present invention is worn on the human body. The motion of the knee joint 3 of the present invention is: when the calf external gear 3A drives the calf internal gear 3B to move, the calf limiter 3C follows the calf internal gear. The gear 3B moves, thereby forming the movement mode of the calf (standing state-bending state, as shown in Figure 7). The movement mode of the calf makes the BA spring 2E1 and the BB spring 2E2 form a moment arm to the rotation center of the calf internal gear 3B. Due to the spring preload and the auxiliary moment generated by the moment arm, the gravitational moment generated when the calf moves is overcome.

Movement of calf internal gear movement assembly: Under the actuation of calf internal gear 3B, CA rotating shaft 31A rotates around CD through hole 31C1 of CA pressure plate 31C, and CA bearing 31B is installed in said CD through hole 31C1, and CB bearing 31D is installed in In the CB through hole 3E3 of the shank connector 3E, the CA screw 31E is screwed into the CA threaded hole 31A3 of the CA rotating shaft 31A, and the axial fixing of the bearing is realized by pressing the CA screw 31E, so that the axis center of the CA rotating shaft 31A revolves around Turn around the CB through hole 3E3 of the shank link 3E.

Movement of the knee joint movement assembly: under the actuation of the calf external gear 3A, the CB rotating shaft 32A rotates around the CE through hole 32C1 of the CB pressure plate 32C, and the CC bearing 32B is installed in the CE through hole 32C1, and then around the calf connecting piece The CC through hole 3E4 of 3E rotates; on the one hand, a CB screw 32E is installed in the CB threaded hole 32A3 at the end of the CB rotating shaft 32A, and a CA angle encoder 32F is installed at the end of the CB screw 32E; on the other hand, the CC pressure plate 32G is fixed on the CB pressure plate 32C, and a CB angle encoder 32H is installed in the CF through hole 32G1 of the CC platen 32G. Through the combination of CA angle encoder 32F and CB angle encoder 32H, the movement angle of the shank housing (the shank shell 2A and the shank cover 2B) relative to the shank link 3E, that is, the movement angle of the knee joint is obtained.

Referring to Fig. 1, Fig. 1A, Fig. 3, Fig. 3A, Fig. 3B, Fig. 3C, and Fig. 3D, the knee joint 3 is composed of a first guide rod 3F, a second guide rod 3G, a first guide rod seat 3H, a second guide rod The rod seat 3J, the third guide rod seat 3K and the fourth guide rod seat 3L are composed.

The lower end of the first guide rod 3F is provided with a CA through hole 3F1. The lower end of the second guide rod 3G is provided with a CB through hole 3G1. The first rod base 3H is provided with a CA transverse hole 3H1 and a CA longitudinal hole 3H2. The first guide rod seat 3H is fixed on the connecting plate 2D under the thigh by screws. The CA longitudinal hole 3H2 is used to place the upper end of the first guide rod 3F. The CA transverse hole 3H1 is used for a jacking wire to pass through, and the jacking thread passing through the CA transverse hole 3H1 tightens the first guide rod 3F in the CA longitudinal hole 3H2. The second guide rod base 3J is provided with a CB transverse hole 3J1 and a CB longitudinal hole 3J2. The second guide rod seat 3J is fixed on the connecting plate 4C on the shank by screws. The CB longitudinal hole 3J2 is used to place the lower end of the first guide rod 3F. The CB transverse hole 3J1 is used for the top wire to pass through, and the jack wire passing through the CB transverse hole 3J1 tightens the first guide rod 3F in the CB longitudinal hole 3J2. The third rod base 3K is provided with a CC transverse hole 3K1 and a CC longitudinal hole 3K2. The third guide rod base 3K is fixed on the connecting plate 2D under the thigh by screws. The CC longitudinal hole 3K2 is used to place the upper end of the second guide rod 3G. The CC transverse hole 3K1 is used for the jacking wire to pass through, and the jacking wire passing through the CC transverse hole 3K1 tightens the second guide rod 3G in the CC longitudinal hole 3K2 . A CD transverse hole 3L1 and a CD longitudinal hole 3L2 are provided on the fourth guide rod seat 3L. The fourth guide rod seat 3L is fixed on the connecting plate 4C on the lower leg by screws. The CD longitudinal hole 3L2 is used to place the upper end of the second guide rod 3G. The CD horizontal hole 3L1 is used for a top wire to pass through, and the top wire passing through the CD horizontal hole 3L1 tightens the second guide rod 3G in the CD vertical hole 3L2 .

In the present invention, the lower end of the first guide rod 3F passes through the CA longitudinal hole 3H2 of the first guide rod base 3H and the CB longitudinal hole 3J2 of the second guide rod base 3J in sequence, and the lower end of the first guide rod 3F Exposed outside the lower end of the second guide rod seat 3J. In the present invention, the lower end of the second guide rod 3G passes sequentially through the CC longitudinal hole 3K2 of the third guide rod base 3K and the CD longitudinal hole 3L2 of the fourth guide rod base 3L, and the lower end of the second guide rod 3G Exposed outside the lower end of the fourth guide rod seat 3L.

In the present invention, when adjusting the length of the thigh, first loosen the top screws on the second guide rod seat 3J and the fourth guide rod seat 3L, so that the two guide rod seats (the second guide rod seat 3J and the fourth guide rod seat 3J) Seat 3L) moves on respective guide rods (the first guide rod 3F and the second guide rod 3G); after adjusting the length, tighten the top screws on the second guide rod seat 3J and the fourth guide rod seat 3L, Reach the fixation of guide rod seat and guide rod.

calf 4

Referring to Fig. 1, Fig. 1A, Fig. 4, Fig. 4A, Fig. 4B, and Fig. 4C, the calf 4 is composed of a calf shell 4A, a calf cover 4B, a connecting plate 4C on the calf, a DA rotation axis unit, a DB rotation axis unit, a DC The rotating shaft unit and the thigh gravity balance coefficient adjustment assembly 4E constitute.

As shown in FIG. 4A , the lower panel 4A2 of the lower leg housing 4A is provided with a DH through hole 4A21 for passing through the upper end of the lower leg screw 4E3 in the lower leg gravity balance coefficient adjustment assembly 4E.

As shown in Fig. 4A, Fig. 4B, the upper end of shank cover plate 4B is shank ring 4B1, is provided with shank limit hole 4B2 between shank ring 4B1 and shank mounting panel 4B4, and shank limit hole 4B2 is provided with Calf lug 4B3. The shank external gear 1A is attached to the shank ring 4B1. AB rotating shaft 12A is installed on the shank lug 4B3. In the present invention, the calf shell 4A and the calf cover 4B are connected and fixed through four right-angled bodies (4K1, 4K2, 4K3, 4K4), that is, the fifth right-angled body 4K1 and the sixth right-angled body 4K2 are placed in parallel and one end is fixed on the lower leg for installation. On the panel 4B4, the other end is fixed to the shank shell 4A; the seventh right-angled body 4K3 and the eighth right-angled body 4K4 are placed in parallel and one end is fixed on the shank mounting panel 4B4, and the other end is fixed to the shank shell 4A.

As shown in FIG. 4A, FIG. 4B, and FIG. 4C, the calf gravity balance coefficient adjustment assembly 4E includes a spring, a lead screw, a guide rail and a slider. DA guide rail 4G1, DB guide rail 4G2, shank DA screw seat 4E5 and shank DB screw seat 4E6 are fixed on the shank installation panel 4B4 of shank cover plate 4B. The DA slider 4H1 is movably connected to the DA guide rail 4G1. The DB slide block 4H2 is movably connected on the DB guide rail 4G2.

As shown in Figure 4C, the shank nut 4E4 is sleeved on the shank screw 4E3, and the shank nut 4E4 is fixed on the DB slider 4H2. The shank nut 4E4 is provided with DC support 4E4A, screw hole 4E4C, and DD support 4E4B; DC support 4E4A is used to connect DA spring 4E1 with DA lower spring hook 4E1B; DD support 4E4B is used to connect DB spring 4E2 with DB Hook under the spring 4E2B; lead screw hole 4E4C is used to pass through one end of the lower leg screw 4E3; the outer end of the DC strut 4E4A has a DF threaded hole for installing the DF screw 4E4E; the outer end of the DD strut 4E4B has a DF threaded hole for installing the DG screw DG threaded hole 4E4D for 4E4F. One panel of DG screws 4E4F is fixed on DB slider 4H2. The DG screws 4E4F are fixed to the shank mounting panel 4B4.

As shown in Figure 4C, the boss of the shank DA lead screw seat 4E5 is provided with a countersunk through hole 4E51 for placing the upper end of the shank lead screw 4E3, the lower end of the countersunk through hole 4E51 is equipped with a DG bearing 4E52, and the DG bearing 4E52 is sleeved on The upper end of the lower leg screw 4E3. The shank DA lead screw seat 4E5 is fixed on the shank mounting panel 4B4.

As shown in FIG. 4C , one end of the shank DB lead screw seat 4E6 is fixed on the shank mounting panel 4B4 , and the other end is provided with a DK through hole 4E61 for the shank lead screw 4E3 to pass through.

In the present invention, the installation of the shank screw 4E3 is that the upper end of the shank screw 4E3 passes through the central through hole of the DG bearing retaining ring 4M, the DG bearing 4L, the DK through hole 4E61 of the shank DB screw seat 4E6, the shank After the lead screw hole 4E4C of the nut 4E4, place it in the countersunk through hole 4E51 of the shank DA screw seat 4E5 (the DG bearing 4E52 is installed in the countersunk through hole 4E51, and the inner ring of the DG bearing 4E52 is sleeved on the lower leg screw 4E3. upper end); the lower end of the shank screw 4E3 is connected with the shank adjustment handle 4N. Rotating the shank adjustment handle 4N left and right is used to adjust the position of the shank nut 4E4 on the shank screw 4E3, thereby adjusting the preload of the DA spring 4E1 and the DB spring 4E2.

As shown in Figure 4C, the DA connector 4J is composed of a thread winding body and two screws (4J5, 4J6). Pillar 4J2; DA pillar 4J1 is used to articulate the DA spring upper hook 4E1A that DA spring 4E1 has; DB pillar 4J2 is used to articulate the DB spring upper hook 4E2A that DB spring 4E2 has. Between the first thread winding body 4J3 and the second thread winding body 4J4 is a calf thread winding gap 4J-1; the calf thread winding gap 4J-1 is used for winding and binding the lower end of the Bowden wire. The outer end of the DA pillar 4J1 is provided with a DD threaded hole for installing the DD screw 4J5; the outer end of the DB pillar 4J2 is provided with a DE threaded hole 4J21 for installing the DE screw 4J6. The first winding body 4J3 is provided with a DI through hole 4J31, and the screw passing through the DI through hole 4J31 is fixed on the DA slide block 4H1. The second winding body 4J4 is provided with a DH through hole 4J41, and the screw passing through the DH through hole 4J41 is fixed on the DA slider 4H1.

As shown in FIG. 4C , the DB Bowden wire fixing member 4F2 is provided with a DL through hole 4F21 for passing the cap 4F1 . The DB Bowden wire fixing part 4F2 is fixed on the calf cover plate 4B. The cap 4F1 is used for the Bowden wire passage of the calf part. One end of the Bowden wire of the calf part is fixed on the calf lock 4D, and the other end passes through the cap 4F1 and is wound on the DA connector 4J. Using the tube cap 4F1 to guide the Bowden wire of the lower leg is beneficial to prevent the Bowden wire of the lower leg from swinging during exercise.

Waist auxiliary board 5

Referring to Fig. 1 and shown in Fig. 1A, the waist auxiliary board 5 is composed of a plurality of connecting boards; wherein, one end of the EA connecting board 5A is installed on the A upper panel 1E1 of the thigh connector 1E, and the other end of the EA connecting board 5A is connected to the EB An EC connection plate 5C is attached between the connection plates 5B, and an ED connection plate 5D is attached to the EC connection plate 5C. In the present invention, the waist is fixed with the person through the waist auxiliary plate 5 .

Thigh auxiliary board 6

Referring to Fig. 1 and shown in Fig. 1A, the thigh auxiliary board 6 is composed of a thigh shield 6A and a thigh support body 6B; wherein, the thigh support body 6B is fixed on the thigh cover plate 2B, and the other end panel of the thigh support body 6B is A thigh guard 6A is fixed. In the present invention, the binding is realized through the contact between the thigh guard 6A and the human's thigh during wearing.

calf auxiliary board 7

Referring to Fig. 1 and shown in Fig. 1A, the calf auxiliary board 7 is composed of a calf shield 7A and a calf support body 7B; wherein, the calf support body 7B is fixed on the thigh cover plate 2B, and on the other end panel of the calf support body 7B A calf guard 7A is fixed. In the present invention, the binding is realized by contacting the calf guard 7A with the calf of the person during wearing.

Movement principle of thigh and calf:

In the present invention, the movement principle of the thigh and the shank is the same. The passive exoskeleton designed by the present invention uses spring pre-stored energy to provide assistance to the wearer. Under the linear motion provided by the equivalent spring, the safe use of the exoskeleton structure is realized. For the design of the present invention, the spring is embedded in the exoskeleton The internal principle is shown in Figure 6 and Figure 7. Point O ₁ is the virtual center point of the outer thigh gear, r is the radius of the outer thigh gear, point O ₂ is the center point of the inner thigh gear, d is the radius of the inner thigh gear, and point P is the fixed point of the spring to the inner thigh gear (i.e. feature point P), point E is the fixed point between the spring and the lower end of the thigh, point _O3 is the virtual center point of the external gear of the calf, point _O4 is the center point of the internal gear of the calf, and point A is the distance between the spring and the internal gear of the calf Fixed point (i.e. feature point A), point B is the fixed point of the spring and the lower end of the shank. Since the structure of the hip joint and the knee joint in the present invention are the same, and the external thigh gear and the calf external gear have the same structure, and the thigh internal gear and the calf internal gear have the same structure, the characteristic point P and the characteristic point A can be equivalent. In the movement of the thigh shown in Figure 6, since the two ends of the equivalent springs (i.e. BA spring 2E1 and BB spring 2E2) are respectively fixed on point P and point E, the gear radius between the thigh external gear 3A and the thigh internal gear 3B When the ratio is 2:1, according to the gear transmission law, it can be obtained that the rotation angle of the thigh inner gear 3B is twice the rotation angle of the thigh outer gear 3A. In the standing state, PO ₁ E is in a straight line, according to the geometric relationship of the forward bending state Then, ∠P _{forward flexion} O ₁ E=∠O ₂ O ₁ E+∠P _{forward flexion} O ₁ O ₂ =π, θ _{forward flexion} indicates the angle of hip joint rotation from standing state to forward bending state, β _forward flexion _Bend represents the rotation angle of the internal gear of the thigh when it moves from the standing state to the forward-bending state, and P- _bending represents the point where the feature point P runs from the standing state to the forward-bending state, so the line P _bends O ₁ and the line O ₁ E In the state of forward bending, always keep on a straight line (namely P _{forward bending} E straight line), that is, the feature point P always moves on the line O ₁ E . The spring force in the forward-bending state is denoted as F- _bending , and the vertical distance from the rotation center O ₂ of the internal thigh gear 3B to the straight line P- _bending E where the force of the spring is located is _dsinθ -bending forward, then the spring force F is _{bending forward} The moment on the inner thigh gear 3B is F _flexion dsin θ _flexion . Since the gear radius ratio of the thigh external gear 3A and the thigh internal gear 3B is 2:1, according to the gear transmission law, the auxiliary torque of the spring force F _{forward flexion} on the hip joint is 2F _{forward flexion} dsinθ _{forward flexion} . The extension of the thigh is the same as the flexion of the thigh. Geometric relationship according to the state of extension Then, ∠P _extension O ₁ E = ∠O ₂ O ₁ E+∠P _extension O ₁ O ₂ = π, θ _extension indicates the angle of hip joint rotation when running from standing state to extension state, β _after extension _Stretch represents the rotation angle of the internal gear of the thigh when it runs from the standing state to the stretched state, and P _stretched represents the point where the feature point P moves from the standing state to the stretched state, so the line P _stretched O ₁ and the line O ₁ E In the stretching state, always keep a straight line (that is, the P _stretching E straight line), that is, the feature point P always moves on the line O ₁ E. The spring force in the state of stretching back is recorded as F _{stretching back} , and the vertical distance from the rotation center _O2 of the inner thigh gear 3B to the straight line P _stretching E where the spring force is located is dsinθ _{stretching back} , then there is the spring force F _{stretching back} The moment to the inner thigh gear 3B is F _extension dsinθ _extension . Since the gear radius ratio of the thigh external gear 3A and the thigh internal gear 3B is 2:1, according to the gear transmission law, the auxiliary torque of the spring force F _extension to the hip joint is 2F _extension dsinθ _extension . Therefore, during the rotation of the hip joint, the equivalent spring only performs linear motion on the PE line. Therefore, it is realized that the spring is nested inside the exoskeleton.

When the thigh moves, the calf also moves. In the calf movement shown in Fig. 7, since the two ends of the equivalent spring (that is, DA spring 4E1 and DB spring 4E2) are respectively fixed on point A and point B, the outer gear of the calf When the gear radius ratio between 4A and calf internal gear 4B is 2:1, according to the gear transmission law, the rotation angle of calf internal gear 4B is twice that of calf external gear 4A. In the standing state, AO ₃ B is in a straight line, according to the geometric relationship of the flexed state Then, ∠A _flexion O ₃ B＝∠O ₄ O ₃ B+∠A _flexion O ₃ O ₄ ＝π, θ _flexion indicates the angle of knee joint rotation when running from a standing state to a flexed state, and β _flexion indicates the inner leg The rotation angle of the gear when it runs from the standing state to the buckling state. A _buckling means that the characteristic point A moves from the standing state to the point under the buckling state, so the line A _buckling O ₃ and the line O ₃ B always keep a straight line in the buckling state (that is, A _buckles B straight line), that is, the feature point P always moves on the line O ₃ B . The spring force in the buckling state is denoted as F _buckling , the vertical distance from the rotation center O ₄ of the internal gear 4B of the calf to the straight line A _buckling B where the spring force is located is dsinθ _buckling , then there is, the spring force F _buckling has an effect on the internal gear 4B of the calf The moment is F _buckling dsinθ _buckling . Since the gear radius ratio between the calf external gear 4A and the calf internal gear 4B is 2:1, according to the gear transmission law, the auxiliary torque of the spring force F _flexion on the knee joint is 2F _flexion dsinθ _flexion . Therefore, during the rotation of the knee joint, the equivalent spring only performs linear motion on the AB line. Therefore, it is realized that the spring is nested inside the exoskeleton.

A passive gravity self-balancing lower extremity exoskeleton structure of the present invention is to solve the technical problems of the existing gravity self-balancing mechanism with external springs and large structures. The structure of the present invention maps the rotational motion of the lower limb joints It is a way for a feature point to move linearly along the axis of the swing link, so that the linear spring can be installed inside the link of the exoskeleton, and during the joint movement, a corresponding moment can be formed to balance the gravity of the entire man-machine system. The present invention subverts the traditional design idea of gravity balance structure with external springs, and realizes the gravity self-balance of the whole man-machine system on the basis of ensuring the compactness and safety of the exoskeleton. The exoskeleton is mainly used to assist the elderly and patients with lower limb motor dysfunction in daily walking.

Claims (4)

1. A passive gravity self-balancing lower extremity exoskeleton structure, the lower extremity exoskeleton structure includes a hip joint (1), a thigh (2), a knee joint (3) and a lower leg (4); it is characterized in that: The hip joint (1) is composed of the external thigh gear (1A), the internal thigh gear (1B), the thigh stopper (1C), the thigh lock (1D), the thigh connecting piece (1E), the upper thigh rotation shaft unit and the lower thigh rotation A shaft unit is formed; the upper thigh rotation shaft unit includes AA rotation shaft (11A), AA bearing (11B), AA pressure plate (11C), AB bearing (11D) and AA screw (11E); the lower thigh rotation shaft The unit includes AB rotating shaft (12A), AC bearing (12B), AC pressure plate (12C), AD bearing (12D), AB screw (12E), AA angle encoder (12F), AC pressure plate (12G) and AB angle The encoder (12H); the hip joint (1) is fixed through the EA connecting plate (5A) of the thigh connecting plate (1E) and the waist auxiliary plate (5); The AA rotating shaft (11A) in the rotating shaft unit on the thigh is provided with an AA connecting plate (11A1) and an AA shaft (11A2); the axial center of the AA rotating shaft (11A) is an AA threaded hole (11A3); The AA connection plate (11A1) of the rotating shaft (11A) is fixed on one side disc of the internal gear (1B) of the thigh; the AA bearing (11B) is sleeved on the AA shaft (11A2); the middle part of the AA pressure plate (11C) is provided with The AD through hole (11C1), the AD through hole (11C1) is used to place the AB bearing (11D); the AA connection plate (11A1) of the AA rotating shaft (11A) is fixed on one side disc of the inner thigh gear (1B), AA After the AA shaft (11A2) of the rotating shaft (11A) passes through the AA bearing (11B) and the AB bearing (11D), install the AA screw (11E) in the AA threaded hole (11A3) at the end; through the AA screw (11E ) is connected with the AA rotating shaft (11A) to install the AB bearing (11D) in the AD through hole (11C1) of the AA pressure plate (11C), and at the same time because the AA pressure plate (11C) is fixed on the A of the thigh connector (1E) At the AB through hole (1E3) of the lower panel (1E2), so as to compress the AA pressure plate (11C) through the AA screw (11E); The AB rotating shaft (12A) in the rotating shaft unit under the thigh is provided with an AB connection plate (12A1) and an AB shaft (12A2); the axial center of the AB rotating shaft (12A) is an AB threaded hole (12A3); The AB connection plate (12A1) of the rotating shaft (12A) is fixed at the thigh lug (2B3) of the thigh cover plate (2B); the AB bearing (12B) is sleeved on the AB shaft (12A2); the AB pressure plate (12C) There is an AE through hole (12C1) in the middle, and the AE through hole (12C1) is used to place the AD bearing (12D); the middle part of the AC pressure plate (12G) is provided with an AF through hole (12G1), and the AF through hole (12G1) is used to place AB angle encoder (12H); A countersunk hole (12E1) for AA angle encoder (12F) is provided on the end face of AB screw (12E); AB connection plate (12A1) of AB rotation shaft (12A) is fixed At the AC through hole (1E4) of the A lower panel (1E2) of the thigh connector (1E), after the AB shaft (12A2) of the AB rotation shaft (12A) passes through the AC bearing (12B) and the AD bearing (12D), Install the AB screw (12E) in the AB threaded hole (12A3) at the end; through the connection between the AB screw (12E) and the AB rotating shaft (12A), the AD bearing (12D) is installed on the AE of the AB pressure plate (12C) In the through hole (12C1), at the same time, since the AB pressure plate (12C) is fixed at the AC hole (1E4) of the A lower panel (1E2) of the thigh connector (1E), the AB pressure plate ( 12C); An AC pressure plate (12G) is fixedly installed on the AB pressure plate (12C), and an AB angle encoder (12H) is installed in the AF through hole (12G1) of the AC pressure plate (12G); The movement of the thigh internal gear movement assembly: under the actuation of the thigh internal gear (1B), the AA rotation axis (11A) rotates around the AD through hole (11C1) of the AA pressure plate (11C), and the AD through hole (11C1) Install the AA bearing (11B), the AB bearing (11D) is installed in the AB through hole (1E3) of the thigh connector (1E), and the AA screw (11E) is threaded into the AA threaded hole (11A3) of the AA rotating shaft (11A) Among them, the axial fixation of the bearing is realized by pressing the AA screw (11E), so that the axis of the AA rotating shaft (11A) rotates around the AB through hole (1E3) of the thigh connector (1E); Movement of the hip joint movement assembly: under the actuation of the thigh external gear (1A), the AB rotation axis (12A) rotates around the AE through hole (12C1) of the AB pressure plate (12C), and the AE through hole (12C1) is installed The AC bearing (12B) then rotates around the AC through hole (1E4) of the thigh connector (1E); on the one hand, the AB screw (12E) is installed in the AB threaded hole (12A3) at the end of the AB rotating shaft (12A), and the AB The AA angle encoder (12F) is installed at the end of the screw (12E); on the other hand, the AC clamp (12G) is fixed on the AB clamp (12C), and the AF through hole (12G1) of the AC clamp (12G) is installed with an AB Angle encoder (12H); The thigh (2) consists of the thigh shell (2A), the thigh cover (2B), the thigh connecting rod (2C), the lower thigh connecting plate (2D), the BA rotation axis unit, the BB rotation axis unit, the BC rotation axis unit and the gravity of the thigh The balance coefficient adjustment component (2E) is composed; The thigh shell panel (2A1) of the thigh shell (2A) is provided with a BG through hole (2A11) for cables to pass through; the thigh shell lower panel (2A2) of the thigh shell (2A) is provided with a thigh gravity balance coefficient adjustment The BH through hole (2A21) passing through the upper end of the thigh screw (2E3) in the assembly (2E); The upper end of the thigh cover plate (2B) is a thigh ring (2B1), and a thigh limit hole (2B2) is arranged between the thigh ring (2B1) and the thigh mounting panel (2B4), and the thigh limit hole (2B2) Thigh lug (2B3) is arranged inside; Thigh external gear (1A) is installed on the thigh ring (2B1); AB rotating shaft (12A) is installed on the thigh lug (2B3); The first rectangular body (2K1) and The second rectangular body (2K2) is placed in parallel and one end is fixed on the thigh mounting panel (2B4), and the other end is fixed to the thigh shell (2A); the third rectangular body (2K3) and the fourth rectangular body (2K4) are placed in parallel And one end is fixed on the thigh mounting panel (2B4), and the other end is fixed to the thigh shell (2A); The upper end of the thigh connecting rod (2C) is provided with a BD through hole (2C1), and the lower end of the thigh connecting rod (2C) is provided with a BE through hole (2C2); on the one hand, the BD through hole (2C1) is used to place the BB bearing (21D) , BD through hole (2C1) on the other hand is used for BA screw (21E) to pass through; BE through hole (2C2) is used to place BD bearing (22D) on the one hand, BE through hole (2C2) is used for BB screw on the other hand (22E) through; The connecting plate (2D) under the thigh is provided with a BF through hole (2D1), the BF through hole (2D1) is used to place the BE bearing (23B), and the BE bearing (23B) is socketed on the BC rotating shaft (23A); Thigh gravity balance coefficient adjustment assembly (2E) includes spring, lead screw, guide rail and slider; BA guide rail (2G1), BB guide rail (2G2), thigh BA screw seat (2E5) and thigh BB screw seat (2E6) It is fixed on the thigh mounting panel (2B4) of the thigh cover (2B); the BA slider (2H1) is movably connected to the BA guide rail (2G1); the BB slider (2H2) is movably connected to the BB guide rail (2G2); The thigh nut (2E4) is socketed on the thigh screw (2E3); the thigh nut (2E4) is provided with a BC strut (2E4A), a screw hole (2E4C), and a BD strut (2E4B); the BC strut (2E4A) is used for BA spring (2E1) has BA spring lower hook (2E1B); BD pillar (2E4B) is used to hook BB spring (2E2) and BB spring lower hook (2E2B); screw hole (2E4C) is used for thigh One end of the lead screw (2E3) passes through; the outer end of the BC pillar (2E4A) is provided with a BF threaded hole for installing the BF screw (2E4E); the outer end of the BD pillar (2E4B) is provided with a hole for installing the BG screw (2E4F) BG threaded hole (2E4D); one panel of BG screw (2E4F) is fixed on the BB slider (2H2); BG screw (2E4F) is fixed on the thigh mounting panel (2B4); The boss of the thigh BA screw seat (2E5) is provided with a countersunk through hole (2E51) for placing the upper end of the thigh screw (2E3), and the lower end of the countersunk through hole (2E51) is installed with a BG bearing (2E52). (2E52) is socketed on the upper end of the thigh screw (4E3); the thigh BA screw seat (2E5) is fixed on the thigh mounting panel (2B4); The thigh BB screw seat (2E6) is L-shaped, one end is fixed on the thigh mounting panel (2B4), and the other end is provided with a BK through hole (2E61) for the thigh screw (2E3) to pass through; The upper end of the thigh screw (2E3) passes through the central through hole of the BG bearing retaining ring (2M), the BG bearing (2L), the BK through hole (2E61) of the thigh BB screw seat (2E6), the thigh nut (2E4 ) behind the lead screw hole (2E4C), and place it in the countersunk through hole (2E51) of the thigh BA screw seat (2E5); the lower end of the thigh screw (2E3) is connected with the thigh adjustment handle (2N); The thigh adjustment handle (2N) is used to adjust the position of the thigh nut (2E4) on the thigh screw (2E3), thereby adjusting the preload of the BA spring (2E1) and BB spring (2E2); The BA connector (2J) consists of a wire winding body and two screws (2J5, 2J6), and the wire winding body is provided with a BA pillar (2J1), a first wire winding body (2J3), and a second wire winding body (2J4) And BB strut (2J2); BA strut (2J1) is used to hook BA spring (2E1) some BA spring hook (2E1A); BB strut (2J2) is used to hook BB spring (2E2) some BB spring Hook (2E2A); there is a thigh winding gap (2J-1) between the first winding body (2J3) and the second winding body (2J4); the thigh winding gap (2J-1) is used for winding and binding The lower end of the Bowden line; the outer end of the BA pillar (2J1) is provided with a BD threaded hole for installing the BD screw (2J5); the outer end of the BB pillar (2J2) is provided with a BE threaded hole for installing the BE screw (2J6) ( 2J21); the first winding body (2J3) is provided with a BI through hole (2J31), and the screw passing through the BI through hole (2J31) is fixed on the BA slider (2H1); on the second winding body (2J4) There is a BH through hole (2J41), and the screw passing through the BH through hole (2J41) is fixed on the BA slider (2H1); The BA Bowden wire fixing part (2F1) is provided with a BM through hole (2F12) for the BA cap (2F11) to pass through; the BB Bowden wire fixing part (2F2) is provided with a BB cap (2F21) for passing through BL through hole (2F22); BA Bowden wire fixing piece (2F1) and BB Bowden wire fixing piece (2F2) are respectively fixed on the thigh cover (2B); BA tube cap (2F11) and BB tube cap (2F21 ) is used to pass the Bowden wire of the thigh part; one end of the Bowden wire of the thigh part is fixed on the thigh lock (1D), and the other end passes through the BA tube cap (2F11) and the BB tube cap (2F21) in sequence, and then winds On the BA connector (2J); The BA rotating shaft unit includes a BA rotating shaft (21A), a BA bearing (21B), a BA pressing plate (21C), a BB bearing (21D) and a BA screw (21E); the BA rotating shaft (21A) in the BA rotating shaft unit A BA connection plate (21A1) and a BA shaft (21A2) are provided; the axial center of the BA rotation shaft (21A) is a BA threaded hole (21A3); the BA connection plate (21A1) of the BA rotation shaft (21A) is fixed on The AC through hole (1E4) of the A lower panel (1E2) of the thigh connector (1E); the BA bearing (21B) is sleeved on the BA shaft (21A2); the middle part of the BA pressure plate (21C) is provided with a BA through hole ( 21C1), the BA through hole (21C1) is used to place the BB bearing (21D); the BA connection plate (21A1) of the BA rotating shaft (21A) is fixed on the A lower panel (1E2) of the thigh connector (1E), and the BA rotation After the BA shaft (21A2) of the shaft (21A) passes through the BA bearing (21B) and the BB bearing (21D), install the BA screw (21E) in the BA threaded hole (21A3) at the end; through the BA screw (21E) The connection with the BA rotating shaft (21A) realizes that the BB bearing (21D) is installed in the BA through hole (21C1) of the BA pressure plate (21C), and at the same time, because the BA pressure plate (21C) is fixed on the upper end of the thigh link (2C) BD through hole (2C1), thereby realizing the connection of the upper end of the BA rotating shaft unit and the thigh link (2C); The BB rotating shaft unit includes BB rotating shaft (22A), BC bearing (22B), BB pressing plate (22C), BD bearing (22D) and BB screw (22E); the BB rotating shaft (22A) in the BB rotating shaft unit There is a BB connecting disc (22A1) and a BB shaft (22A2); the axial center of the BB rotating shaft (22A) is a BB threaded hole (22A3); the BB connecting disc (22A1) of the BB rotating shaft (22A) is fixed on One end of the connecting plate (2D) under the thigh; the BC bearing (22B) is sleeved on the BB shaft (22A2); the BB through hole (22C1) is provided in the middle of the BB pressure plate (22C), and the BB through hole (22C1) is used to place BD bearing (22D); the BB connecting plate (22A1) of the BB rotating shaft (22A) is fixed at the BE through hole (2C2) at the lower end of the thigh connecting rod (2C), and the BB shaft (22A2) of the BB rotating shaft (22A) passes through After passing the BC bearing (22B) and BD bearing (22D), install the BB screw (22E) in the BB threaded hole (22A3) at the end; through the connection between the BB screw (22E) and the BB rotating shaft (22A), the The BD bearing (22D) is installed in the BB through hole (22C1) of the BB pressure plate (22C), and because the BB pressure plate (22C) is fixed at the BE through hole (2C2) at the lower end of the thigh link (2C), thereby realizing BB The connection between the rotating shaft unit and the lower end of the thigh link (2C); BC rotating shaft unit comprises BC rotating shaft (23A), BE bearing (23B), BC pressure plate (23C), BF bearing (23D) and BC screw (23E); A BC connection plate (23A1) and a BC shaft (23A2) are provided; the axial center of the BC rotation shaft (23A) is a BC threaded hole (23A3); the BC connection plate (23A1) of the BC rotation shaft (23A) is fixed on The lower end of the thigh cover (2B), and the BC shaft (23A2) of the BC rotation shaft (23A) is sleeved with a BE bearing (23B), and the BE bearing (23B) is placed in the BF through hole of the lower thigh connecting plate (2D) (2D1); the middle part of the BC pressure plate (23C) is provided with a BC through hole (23C1), and the BC through hole (23C1) is used to place the BF bearing (23D); the BC connection plate (23A1) of the BC rotating shaft (23A) is fixed At the lower end of the thigh cover (2B), after the BC shaft (23A2) of the BC rotation shaft (23A) passes through the BE bearing (23B) and the BF bearing (23D), install it in the BC threaded hole (23A3) at the end BC screw 23E; the BF bearing (23D) is installed in the BC through hole (23C1) of the BC pressure plate (23C) through the connection of the BC screw (23E) and the BC rotating shaft (23A), and the BC pressure plate (23C) is fixed at the same time At the BF through hole (2D1) of the lower thigh connecting plate (2D), the connection between the BC rotation axis unit and the lower thigh connecting plate (2D) is realized; Knee joint (3) consists of calf external gear (3A), calf internal gear (3B), calf stopper (3C), calf lock (3D), calf link (3E), calf upper rotation shaft unit and calf lower rotation A shaft unit is formed; the rotating shaft unit on the shank includes a CA rotating shaft (31A), a CA bearing (31B), a CA pressing plate (31C), a CB bearing (31D) and a CA screw (31E); the lower leg rotating shaft The unit includes CB rotating shaft (32A), CC bearing (32B), CC pressure plate (32C), CD bearing (32D), CB screw (32E), CA angle encoder (32F), CC pressure plate (32G) and CB angle Encoder(32H); The shank connector (3E) is provided with a CB through hole (3E1) and a CC through hole (3E2); the CB through hole (3E1) is used to place the CA bearing (31B), and the CA bearing (31B) is sleeved on the CA rotation On the shaft of the shaft (31A), that is, the CA rotating shaft (31A) sleeved with the CA bearing (31B) passes through the CB through hole (3E3); the CB through hole (3E1) is fixed with a CA pressure plate (31C); The CC through hole (3E2) is used to place the CC bearing (32B), and the CC bearing (32B) is sleeved on the shaft of the CC rotating shaft (32A), that is, the CC rotating shaft (32A) is sleeved with the CC bearing (32B). ) through the CC through hole (3E4); the CC through hole (3E2) is fixed with a CB pressure plate (32C); The CA rotating shaft (31A) in the rotating shaft unit on the calf is provided with a CA connection plate (31A1) and a CA shaft (31A2); the axial center of the CA rotating shaft (31A) is a CA threaded hole (31A3); The CA connection plate (31A1) of the rotating shaft (31A) is fixed on one side disc of the calf internal gear (3B); the CA bearing (31B) is sleeved on the CA shaft (31A2); the middle part of the CA pressure plate (31C) is provided with The CD through hole (31C1), the CD through hole (31C1) is used to place the CB bearing (31D); the CA connection plate (31A1) of the CA rotating shaft (31A) is fixed on one side of the calf internal gear (3B), CA After the CA shaft (31A2) of the rotating shaft (31A) passes through the CA bearing (31B) and the CB bearing (31D), install the CA screw (31E) in the CA threaded hole (31A3) at the end; pass the CA screw (31E ) is connected with the CA rotating shaft (31A) to install the CB bearing (31D) in the CD through hole (31C1) of the CA pressure plate (31C), and at the same time, because the CA pressure plate (31C) is fixed on the CB of the lower leg connector (3E) through the hole (3E1), so as to compress the CA pressure plate (31C) through the CA screw (31E); CB connecting plate (32A1) and CB shaft (32A2) are arranged on the CB rotating shaft (32A) in the lower leg rotating shaft unit; The axial center of described CB rotating shaft (32A) is CB threaded hole (32A3); CB The CB connecting plate (32A1) of the rotating shaft (32A) is fixed at the calf lug (4B3) of the calf cover plate (4B); the CB bearing (32B) is sleeved on the CB shaft (32A2); the CB pressure plate (32C) There is a CE through hole (32C1) in the middle, and the CE through hole (32C1) is used to place the CD bearing (32D); the middle part of the CC pressure plate (32G) is provided with a CF through hole (32G1), and the CF through hole (32G1) is used to place CB angle encoder (32H); C countersunk hole (32E1) for placing CA angle encoder (32F) on the end face of CB screw (32E); fixed by CB connection plate (32A1) of CB rotation shaft (32A) At the CC through hole (3E4) of the C lower panel (3E2) of the shank connector (3E), after the CB shaft (32A2) of the CB rotating shaft (32A) passes through the CC bearing (32B) and the CD bearing (32D), Install the CB screw (32E) in the CB threaded hole (32A3) at the end; through the connection between the CB screw (32E) and the CB rotating shaft (32A), the CD bearing (32D) is installed on the CE of the CB pressure plate (32C) In the through hole (32C1), at the same time, since the CB pressure plate (32C) is fixed at the CC hole (3E2) of the shank connector (3E), the CB pressure plate (32C) can be compressed by the CB screw (32E); the CB pressure plate ( 32C) is fixedly installed with a CC clamp (32G), the CB angle encoder (32H) installed in the CF through hole (32G1) of the CC clamp (32G) and the C counterbore (32E1) installed in the CB screw (32E) ) to cooperate with the CA angle encoder (32F) to obtain the movement angle of the upper part of the lower leg cover (2B) relative to the C lower panel (3E2) of the lower leg connector (3E); Movement of calf internal gear movement assembly: under the actuation of calf internal gear (3B), CA rotating shaft (31A) rotates around CD through hole (31C1) of CA pressure plate (31C), and inside the CD through hole (31C1) Install the CA bearing (31B), install the CB bearing (31D) in the CB through-hole (3E3) of the calf connector (3E), and screw the CA screw (31E) into the CA threaded hole (31A3) of the CA rotating shaft (31A). Among them, the axial fixation of the bearing is achieved by pressing the CA screw (31E), so that the axis of the CA rotating shaft (31A) rotates around the CB through hole (3E3) of the calf connector (3E); Movement of the knee joint movement assembly: under the actuation of the calf external gear (3A), the CB rotation shaft (32A) rotates around the CE through hole (32C1) of the CB pressure plate (32C), and the CE through hole (32C1) is installed The CC bearing (32B) then rotates around the CC through hole (3E4) of the shank connector (3E); on the one hand, the CB screw (32E) is installed in the CB threaded hole (32A3) at the end of the CB rotating shaft (32A), and the CB The CA angle encoder (32F) is installed at the end of the screw (32E); on the other hand, the CC clamp (32G) is fixed on the CB clamp (32C), and the CF through hole (32G1) of the CC clamp (32G) is installed with a CB Angle encoder (32H); through the combination of CA angle encoder (32F) and CB angle encoder (32H), the motion angle of the shank shell relative to the shank connector (3E), i.e. the motion angle of the knee joint is obtained; The knee joint (3) consists of a first guide rod (3F), a second guide rod (3G), a first guide rod base (3H), a second guide rod base (3J), a third guide rod base (3K) and a first guide rod base (3K) Composed of four guide rod bases (3L); The lower end of the first guide rod (3F) is provided with a CA through hole (3F1); the lower end of the second guide rod (3G) is provided with a CB through hole (3G1); the first guide rod seat (3H) is provided with a CA transverse hole (3H1) and CA longitudinal hole (3H2); the first guide rod seat (3H) is fixed on the lower thigh connecting plate (2D) by screws; the CA longitudinal hole (3H2) is used to place the upper end of the first guide rod (3F) ; The CA transverse hole (3H1) is used for the top wire to pass through, and the jack wire passing through the CA transverse hole (3H1) tightens the first guide rod (3F) in the CA longitudinal hole (3H2); the second guide rod The seat (3J) is provided with a CB transverse hole (3J1) and a CB longitudinal hole (3J2); the second guide rod seat (3J) is fixed on the lower leg connecting plate (4C) by screws; the CB longitudinal hole (3J2) is used for Place the lower end of the first guide rod (3F); the CB transverse hole (3J1) is used for the top screw to pass through, and the jack screw passing through the CB transverse hole (3J1) will tighten the first guide rod (3F) on the CB longitudinal In the hole (3J2); the third guide rod seat (3K) is provided with a CC horizontal hole (3K1) and a CC longitudinal hole (3K2); the third guide rod seat (3K) is fixed on the connecting plate (2D) under the thigh by screws top; the CC longitudinal hole (3K2) is used to place the upper end of the second guide rod (3G); the CC transverse hole (3K1) is used for the top wire to pass through, and the top wire passing through the CC transverse hole (3K1) connects the second The guide rod (3G) is tightened in the CC longitudinal hole (3K2); the fourth guide rod seat (3L) is provided with a CD transverse hole (3L1) and a CD longitudinal hole (3L2); the fourth guide rod seat (3L) passes through The screw is fixed on the connecting plate (4C) on the lower leg; the CD longitudinal hole (3L2) is used to place the upper end of the second guide rod (3G); the CD transverse hole (3L1) is used for the top wire to pass through the CD transverse The jacking wire in the hole (3L1) tightens the second guide rod (3G) in the CD longitudinal hole (3L2); After the lower end of the first guide rod (3F) passes through the CA longitudinal hole (3H2) of the first guide rod base (3H) and the CB longitudinal hole (3J2) of the second guide rod base (3J) in sequence, and the first guide rod The lower end of the rod (3F) is exposed outside the lower end of the second guide rod seat (3J); The lower end of the second guide rod (3G) passes through the CC longitudinal hole (3K2) of the third guide rod base (3K) and the CD longitudinal hole (3L2) of the fourth guide rod base (3L) in sequence, and the second guide rod The lower end of the rod (3G) is exposed outside the lower end of the fourth guide rod seat (3L); The calf (4) consists of a calf shell (4A), a calf cover (4B), a calf upper connection plate (4C), a DA rotation axis unit, a DB rotation axis unit, a DC rotation axis unit and a thigh gravity balance coefficient adjustment assembly (4E) constitute; The lower panel (4A2) of the calf housing (4A) is provided with a DH through hole (4A21) for passing through the upper end of the calf lead screw (4E3) in the calf gravity balance coefficient adjustment assembly (4E); The upper end of the calf cover plate (4B) is a calf ring (4B1), and a calf limit hole (4B2) is provided between the calf ring (4B1) and the calf mounting panel (4B4), and the calf limit hole (4B2) The calf lug (4B3) is arranged inside; the calf external gear (1A) is installed on the calf ring (4B1); the AB rotating shaft (12A) is installed on the calf lug (4B3); the fifth rectangular body (4K1) and The sixth rectangular body (4K2) is placed in parallel and one end is fixed on the lower leg mounting panel (4B4), and the other end is fixed to the lower leg shell (4A); the seventh rectangular body (4K3) and the eighth rectangular body (4K4) are placed in parallel And one end is fixed on the lower leg mounting panel (4B4), and the other end is fixed to the lower leg shell (4A); Calf gravity balance coefficient adjustment assembly (4E) includes spring, lead screw, guide rail and slider; DA guide rail (4G1), DB guide rail (4G2), calf DA screw seat (4E5) and calf DB screw seat (4E6) It is fixed on the calf mounting panel (4B4) of the calf cover (4B); the DA slider (4H1) is movably connected to the DA guide rail (4G1); the DB slider (4H2) is movably connected to the DB guide rail (4G2); The shank nut (4E4) is socketed on the shank lead screw (4E3), and the shank nut (4E4) is fixed on the DB slider (4H2); the shank nut (4E4) is provided with a DC support (4E4A), a screw hole ( 4E4C), DD strut (4E4B); DC strut (4E4A) is used to hook DA spring (4E1) and some DA spring hooks (4E1B); DD strut (4E4B) is used to hook DB spring (4E2) some DB Hook under spring (4E2B); lead screw hole (4E4C) for one end of leg screw (4E3) to pass through; outer end of DC strut (4E4A) has DF threaded hole for mounting DF screw (4E4E); DD strut The outer end of (4E4B) is provided with a DG threaded hole (4E4D) for installing the DG screw (4E4F); one panel of the DG screw (4E4F) is fixed on the DB slider (4H2); the DG screw (4E4F) is fixed on the calf mount on the panel (4B4); The boss of the lower leg DA screw seat (4E5) is provided with a countersunk through hole (4E51) for placing the upper end of the lower leg screw (4E3), and the lower end of the countersunk through hole (4E51) is installed with a DG bearing (4E52). (4E52) is socketed on the upper end of the lower leg screw (4E3); the lower leg DA screw seat (4E5) is fixed on the lower leg mounting panel (4B4); One end of the shank DB screw seat (4E6) is fixed on the shank mounting panel (4B4), and the other end is provided with a DK through hole (4E61) for the shank screw (4E3) to pass through; The installation of the lower leg screw (4E3) is that the upper end of the lower leg screw (4E3) passes through the central through hole of the DG bearing retaining ring (4M), the DG bearing (4L), and the DK of the lower leg DB screw seat (4E6). After the through hole (4E61) and the lead screw hole (4E4C) of the shank nut (4E4), place it in the countersunk through hole (4E51) of the shank DA screw seat (4E5); the lower end of the shank screw (4E3) is connected with Calf adjustment handle (4N); by turning the calf adjustment handle (4N) left and right, it is used to adjust the position of the calf nut (4E4) on the calf screw (4E3), and then adjust the preload of DA spring (4E1) and DB spring (4E2). tension; The DA connector (4J) is composed of a thread winding body and two screws (4J5, 4J6), and the thread winding body is provided with a DA pillar (4J1), a first thread winding body (4J3), and a second thread winding body (4J4) And DB strut (4J2); DA strut (4J1) is used to hook DA spring (4E1) some DA spring hook (4E1A); DB strut (4J2) is used to hang DB spring (4E2) some DB spring Hook (4E2A); between the first winding body (4J3) and the second winding body (4J4) is the calf winding gap (4J-1); the calf winding gap (4J-1) is used for winding and binding The lower end of the Bowden line; the outer end of the DA pillar (4J1) is provided with a DD threaded hole for installing the DD screw (4J5); the outer end of the DB pillar (4J2) is provided with a DE threaded hole for installing the DE screw (4J6) ( 4J21); the first winding body (4J3) is provided with a DI through hole (4J31), and the screw passing through the DI through hole (4J31) is fixed on the DA slider (4H1); on the second winding body (4J4) There is a DH through hole (4J41), and the screw passing through the DH through hole (4J41) is fixed on the DA slider (4H1). 2. A kind of passive gravity self-balancing lower extremity exoskeleton structure according to claim 1, is characterized in that: the radius ratio of thigh external gear (1A) and thigh internal gear (1B) is 2:1; The ratio of the angle of motion to hip motion is 2:1; The ratio of the radius of the calf external gear (3A) to the calf internal gear (3B) is 2:1; the ratio of the angle between the movement of the calf internal gear and the motion of the knee joint is 2:1. 3. A passive gravity self-balancing lower extremity exoskeleton structure according to claim 1 or 2, characterized in that: the geometric relationship of the flexed state of the thigh Then, ∠P _{forward flexion} O ₁ E=∠O ₂ O ₁ E+∠P _{forward flexion} O ₁ O ₂ =π, θ _{forward flexion} indicates the angle of hip joint rotation from standing state to forward bending state, β _forward flexion _Bend means the rotation angle of the internal gear of the thigh when it runs from the standing state to the forward bending state, and P _{forward bending} means the point where the characteristic point P runs from the standing state to the forward bending state; Geometric relationship of the extended state of the thigh Then, ∠P _extension O ₁ E = ∠O ₂ O ₁ E+∠P _extension O ₁ O ₂ = π, θ _extension indicates the angle of hip joint rotation when running from standing state to extension state, β _after extension _Stretch means the rotation angle of the internal gear of the thigh when it runs from the standing state to the stretched state, and P _stretched means the point where the feature point P moves from the standing state to the stretched state. 4. A passive gravity self-balancing lower extremity exoskeleton structure according to claim 1 or 2, characterized in that: the geometric relationship of the flexion state of the lower leg Then, ∠A _flexion O ₃ B＝∠O ₄ O ₃ B+∠A _flexion O ₃ O ₄ ＝π, θ _flexion indicates the angle of knee joint rotation when running from a standing state to a flexed state, and β _flexion indicates the inner leg The rotation angle of the gear when it runs from the standing state to the buckling state, and A _buckling means the point at which the characteristic point A moves from the standing state to the buckling state.