CN110315513B - Lower limb exoskeleton robot - Google Patents

Abstract

The invention discloses a lower limb exoskeleton robot, which includes a thoracoabdominal support plate, a left part and a right part; the left part and the right part have exactly the same structure, including a hip joint part, an ankle joint part, a knee joint locking part, and a sole. Auxiliary support part, thigh support plate, calf support plate and knee joint axis. This exoskeleton applies a three-branch parallel spherical linkage mechanism to the design of the hip joint and ankle joint, so that the hip joint and ankle joint of the exoskeleton each have 3 degrees of freedom, which is consistent with the freedom of movement of each joint of the human body and fully adapts to the human body. Various complex movements of the lower limbs effectively improve the flexibility of the exoskeleton. The mutated and optimized three-branch parallel spherical link mechanism is combined with the planar four-bar mechanism to achieve all 7 degrees of freedom of a single branch chain to be locked at one time, achieving stable support for the lower limbs in any posture, and at the same time greatly increasing the Reduce the number of complex original parts and the overall weight, save control costs, and simplify operation difficulty.

Description

A lower limb exoskeleton robot

Technical field

The invention relates to the field of mechanical engineering, specifically to a lower limb exoskeleton robot, in particular to an exoskeleton robot with fixed posture auxiliary support.

Background technique

With the continuous deepening of research on exoskeleton robots at home and abroad, the field of exoskeleton robots is becoming more and more perfect. Various types of exoskeleton robot products are gradually being introduced into the market. Users' functional needs for exoskeleton products will also gradually become more life-oriented. ,diversification. However, at present, exoskeleton robot products are mainly concentrated in the fields of medical health, assisted walking, and weight-bearing assistance, while the design and development of exoskeleton robots dedicated to fixed posture auxiliary support are relatively rare.

The exoskeleton with fixed posture auxiliary support is mainly aimed at surgeons, dentists, precision instrument repair engineers, large machinery assembly engineers, military heavy artillery and other workers. The working environment of this type of workers is relatively complex, the operations are highly technical, and the requirements for precision are extremely high. The lower limbs of such workers always need to maintain a certain strenuous posture for a long time when working, which places a great support burden on the workers' lower limbs. It is extremely easy to produce work fatigue. If such people work under fatigue conditions for a long time, it will not only reduce work accuracy and affect production efficiency, but also increase the probability of safety accidents and medical accidents, posing a threat to the life safety of workers and work objects. To address such problems, existing seat-based exoskeleton robots only support stable support in specific postures, making it difficult to assist workers in working in complex postures for long periods of time; traditional spring-assisted exoskeletons can only be used in certain postures due to limitations in spring stiffness. Provide auxiliary support in some postures; motor-driven exoskeleton robots or electro-hydraulic hybrid-driven exoskeleton robots are not only costly and energy-consuming, but also inconvenient to carry, making it difficult to work outdoors or in complex working conditions. To sum up, it is difficult for existing technology to meet the usage requirements to solve such problems. Therefore, it is particularly necessary to develop a driverless exoskeleton robot that can provide stable support for the lower limbs in any posture.

Contents of the invention

In view of the shortcomings of the existing technology, the technical problem to be solved by the present invention is to provide a lower limb exoskeleton robot.

The technical solution of the present invention to solve the technical problem is to provide a lower limb exoskeleton robot, which is characterized in that the exoskeleton includes a thoracoabdominal support plate, a left part and a right part; the left part and the right part have exactly the same structure and both include hip Joint part, ankle joint part, knee joint locking part, foot auxiliary support part, thigh support plate, calf support plate and knee joint axis;

The hip joint part includes the hip branch No. 1, the hip branch No. 2, the hip branch No. 3, the thoracic and ventral end ball panels and the thigh rod; the hip branch No. 1 includes the hip branch No. 1. No.1 spherical connecting rod, No.1 hip branch chain No.2 spherical connecting rod, No.1 hip branch chain No.3 spherical connecting rod, No.1 hip branch chain transfer link and No.1 hip branch chain friction disc connecting rod ; Hip joint No. 2 branch chain includes hip joint No. 2 branch chain No. 1 spherical connecting rod, hip joint No. 2 branch chain No. 2 spherical connecting rod, hip joint No. 2 branch chain No. 3 spherical connecting rod, hip joint No. 2 branch chain The transmission connecting rod and the friction plate connecting rod of the hip joint No. 2 branch; the hip joint No. 3 branch chain includes the hip joint No. 3 branch chain No. 1 spherical connecting rod, the hip joint No. 3 branch chain No. 2 spherical connecting rod, and the hip joint No. 3 branch chain. Branch chain No. 3 spherical connecting rod, hip branch chain No. 3 transfer link and hip branch chain No. 3 friction disc connecting rod;

The thoracic and abdominal end spherical panels are fixed on the thoracic and abdominal supporting plates, which are used to support the waist and abdomen of the human body; the No. 1 branch chain of the hip joint is the No. 1 spherical connecting rod, and the No. 2 branch chain of the hip joint is the No. 1 spherical connecting rod. The rod and the No. 3 branch chain of the hip joint and the No. 1 spherical connecting rod are both fixed on the thoracic and ventral end ball panels; the lower end hole of the No. 1 spherical connecting rod of the No. 1 branch chain of the hip joint is connected to the No. 2 spherical connecting rod of the No. 1 branch chain of the hip joint. The upper end holes of the hip joint branch chain No. 2 cooperate to form a rotating pair; the lower end hole of the hip joint branch chain No. 2 spherical link cooperates with the upper end hole of the hip joint branch chain No. 3 spherical link to form a rotating pair; the hip joint branch chain No. 1 No. 3 The middle end hole of the spherical connecting rod cooperates with the upper end hole of the thigh rod to form a rotating pair; the lower end hole of the No. 1 spherical connecting rod of the No. 2 branch chain of the hip joint cooperates with the upper end hole of the No. 2 spherical connecting rod of the No. 2 branch chain of the hip joint to form a rotating pair. ; The lower end hole of the No. 2 spherical connecting rod of the No. 2 branch chain of the hip joint cooperates with the upper end hole of the No. 3 spherical connecting rod of the No. 2 branch chain of the hip joint to form a rotating pair; the middle end hole of the No. 3 spherical connecting rod of the No. 2 branch chain of the hip joint is formed. It cooperates with the upper end hole of the thigh rod to form a rotating pair; the lower end hole of the No. 1 spherical connecting rod of the No. 3 branch chain of the hip joint cooperates with the upper end hole of the No. 2 spherical connecting rod of the No. 3 branch chain of the hip joint to form a rotating pair; the No. 3 branch chain of the hip joint forms a rotating pair. The lower end hole of the No. 2 spherical link cooperates with the upper end hole of the No. 3 spherical link of the hip joint branch chain to form a rotating pair; the middle end hole of the No. 3 spherical link of the hip joint branch chain cooperates with the upper end hole of the thigh rod to form a rotating pair. Rotating pair; the rotation axes of all rotating pairs in this part converge at one point, which coincides with the center of the spherical motion of the human hip joint;

The lower end hole of the No. 3 spherical connecting rod of the No. 1 hip joint branch cooperates with the upper end hole of the No. 1 hip joint branch chain transfer link to form a rotating pair; the lower end hole of the No. 1 hip joint branch chain transfer link cooperates with the No. 1 hip joint branch chain. The connecting rod end holes of the friction plate connecting rod cooperate to form a rotating pair; the friction plate end hole of the hip joint branch chain friction plate connecting rod and the friction plate end hole of the thigh rod cooperate through the knee joint shaft to form a cylinder that can move axially. pair; the lower end hole of the No. 3 spherical connecting rod of the No. 2 branch chain of the hip joint cooperates with the upper end hole of the No. 2 branch chain transfer link of the hip joint to form a rotating pair; the lower end hole of the No. 2 branch chain transfer link of the hip joint cooperates with the No. The connecting rod end holes of the No. 2 branch chain friction disk connecting rod cooperate to form a rotating pair; the friction disk end hole of the No. 2 branch chain friction disk connecting rod of the hip joint and the friction disk end hole of the thigh rod cooperate through the knee joint shaft to form an axial micro A moving cylindrical pair; the lower end hole of the No. 3 spherical connecting rod of the hip joint branch chain cooperates with the upper end hole of the No. 3 branch chain transfer link of the hip joint to form a rotating pair; the lower end hole of the No. 3 branch chain transfer link of the hip joint cooperates with The connecting rod end holes of the hip joint No. 3 branch chain friction disk connecting rod cooperate to form a rotating pair; the friction disk end hole of the hip joint No. 3 branch chain friction disk connecting rod and the friction disk end hole of the thigh rod cooperate to form a rotating pair through the knee joint shaft. Axial micro-movement cylindrical pairs; the rotation axes of all axial micro-movement cylindrical pairs in this part are coaxial; the thigh support plate is fixed on the thigh rod and is used to support the thigh part of the human body;

The ankle joint part includes the No. 1 ankle branch, the No. 2 ankle branch, the No. 3 ankle branch, the plantar spherical connecting rod, the calf rod, the sole plate and the sole collar; the No. 1 ankle branch Including the No. 1 ankle branch chain No. 1 spherical connecting rod, the No. 1 ankle branch branch chain No. 2 spherical connecting rod, the No. 1 ankle branch chain transfer link and the No. 1 ankle branch chain friction disc connecting rod; Ankle joint No. 2 The branch chain includes the No. 2 branch chain of the ankle joint, the No. 1 spherical connecting rod, the No. 2 branch chain of the ankle joint, the No. 2 spherical connecting rod, the No. 2 branch chain of the ankle joint transfer link and the No. 2 friction disc connecting rod of the ankle joint branch chain; ankle joint The No.3 branch chain includes the No.3 ankle branch chain No.1 spherical connecting rod, the ankle joint No.3 branch chain No.2 spherical connecting rod, the ankle joint No.3 branch chain transfer link and the ankle joint No.3 branch chain friction disc connecting rod;

The plantar spherical connecting rod is fixed on the sole plate; the upper end hole of the plantar spherical connecting rod cooperates with the upper end hole of the No. 2 branch chain No. 1 spherical connecting rod of the ankle joint to form a rotating pair; the middle end hole of the plantar spherical connecting rod is respectively connected with The upper end hole of the No. 1 spherical connecting rod of the No. 1 branch chain of the ankle joint cooperates with the upper end hole of the No. 1 spherical connecting rod of the No. 3 branch chain of the ankle joint to form a rotating pair and a rotating pair; the lower end of the No. 1 spherical connecting rod of the No. 2 branch chain of the ankle joint is formed. The hole cooperates with the upper end hole of the No.2 spherical connecting rod of the No.2 branch chain of the ankle joint to form a rotating pair; the middle hole of the No.2 spherical connecting rod of the No.2 branch chain of the ankle joint cooperates with the lower end hole of the calf rod to form a rotating pair; the first hole of the ankle joint The lower end hole of the No.1 spherical connecting rod of the No.1 branch chain of the ankle joint cooperates with the upper end hole of the No.2 spherical connecting rod of the No.1 branch chain of the ankle joint to form a rotating pair; The lower end holes cooperate to form a rotating pair; the lower end hole of the No. 1 spherical link of the No. 3 branch of the ankle joint cooperates with the upper end hole of the No. 2 spherical link of the No. 3 branch of the ankle joint to form a rotating pair; the No. 2 spherical surface of the No. 3 branch of the ankle joint The middle end hole of the connecting rod cooperates with the lower end hole of the calf rod to form a rotating pair; the rotation axes of all rotating pairs in this part converge at one point, which coincides with the center of the spherical motion of the human ankle joint;

The lower end hole of the No. 2 spherical connecting rod of the No. 2 ankle joint branch cooperates with the lower end hole of the No. 2 ankle joint branch chain transfer link to form a rotating pair; the upper end hole of the No. 2 ankle joint branch chain transfer link cooperates with the No. 2 ankle joint branch The connecting rod end hole of the chain friction plate connecting rod cooperates to form a rotating pair; the friction plate end hole of the ankle joint No. 2 branch chain friction plate connecting rod and the friction plate end hole of the calf rod cooperate through the knee joint shaft to form an axial micro-movement The cylindrical pair; the lower end hole of the No. 1 branch chain transfer link of the ankle joint and the lower end hole of the No. 1 ankle branch chain transfer link cooperate to form a rotating pair; the upper end hole of the No. 1 ankle branch chain transfer link is connected with the ankle joint The connecting rod end hole of the No. 1 branch chain friction disk connecting rod cooperates to form a rotating pair; the friction disk end hole of the No. 1 branch chain friction disk connecting rod of the ankle joint and the friction disk end hole of the calf rod cooperate through the knee joint shaft to form an axial Micro-moving cylindrical pair; the lower end hole of the No. 2 spherical link of the No. 3 branch chain of the ankle joint cooperates with the lower end hole of the No. 3 branch chain transfer link of the ankle joint to form a rotating pair; the upper end hole of the No. 3 branch chain transfer link of the ankle joint is It cooperates with the connecting rod end hole of the No. 3 branch chain friction disk connecting rod of the ankle joint to form a rotating pair; the friction disk end hole of the No. 3 branch chain friction disk connecting rod of the ankle joint and the friction disk end hole of the calf rod cooperate to form a rotating pair. The cylindrical pairs that can move axially slightly; the rotation axes of all the cylindrical pairs that can move axially slightly in this part are coaxial; the calf leaning plate is fixed on the calf rod and is used to support the calf part of the human body;

The knee joint locking part includes the No. 1 transmission link of the clamping device, the No. 2 transmission link of the clamping device, the No. 1 clamping link of the clamping device, the No. 2 clamping link of the clamping device, and the fixed clamping device. Support, clamping device thrust slider and thrust spring;

The friction plate end hole of the calf rod and the friction plate end hole of the thigh rod cooperate through the knee joint shaft to form a cylindrical pair that can move axially; the clamping device fixed support is fixed on the thigh rod; both sides of the clamping device fixed support Each side end hole cooperates with the middle end hole of the No. 1 clamping link of the clamping device and the No. 2 clamping link of the clamping device to form a rotating pair; the upper end hole of the No. 2 clamping link of the clamping device is in contact with the clamping device. The upper end hole of the No. 1 transmission connecting rod cooperates to form a rotating pair; the upper end hole of the No. 1 clamping connecting rod of the clamping device cooperates with the upper end hole of the No. 2 transmission connecting rod of the clamping device to form a rotating pair; the upper end of the thrust slider of the clamping device The holes cooperate with the lower end holes of the No. 1 transfer link of the clamping device and the No. 2 transfer link of the clamping device respectively to form a rotating pair; the lower end shaft of the thrust slide block of the clamping device cooperates with the middle hole of the fixed support of the clamping device to form a moving pair. Pair; the thrust spring is nested on the lower end shaft of the thrust slide block of the clamping device, the lower end is fixed with the fixed support of the clamping device, and the upper end is fixed with the thrust slide block of the clamping device; the thrust slide block of the clamping device and the clamp The fixed supports of the tightening device can move toward each other through external force to release the lock.

Compared with the prior art, the beneficial effects of the present invention are:

(1) The three-branch parallel spherical linkage mechanism is applied to the design of the hip joint and ankle joint, so that the exoskeleton hip joint and ankle joint each have 3 degrees of freedom, which is consistent with the freedom of movement of each joint of the human body and fully adapts to the human body. Various complex movements of the lower limbs effectively improve the flexibility of the exoskeleton.

The center of the ball of the three-branch parallel spherical link mechanism coincides with the center of the human hip or ankle joint movement. By optimizing the rod length parameters of the spherical link, its movement space can be highly consistent with the movement range of the human hip and ankle joints. The characteristics are fully adapted to the movement characteristics of human hip and ankle joints.

(2) Combining the mutated and optimized three-branch parallel spherical link mechanism with the planar four-bar mechanism, the 7 degrees of freedom of a single branch chain can be locked in one place at once, thus locking the hips, knees and ankles. joints, a single branch chain becomes a rigid body, and the exoskeleton can provide stable support for the human body in selected postures, achieving stable support for the lower limbs in any posture, while greatly reducing the number of complex original components such as control components, clamping components, and heavy auxiliary components. And the overall weight saves control costs and simplifies operation difficulty.

The three branch chain end kinematic pairs of the three branch chain parallel spherical linkage mechanism are all rotational pairs. By inhibiting the end rotation of the three branch chains, the three degrees of freedom of the hip or ankle joint of the exoskeleton can be effectively locked. The structural variation of this mechanism is optimized. The end rotations of its three branch chains can be integrated into three coaxial rotations. It uses a planar four-bar mechanism with six sets of end swing bars as friction disc connecting rods to rotate the three ends of the hip joint respectively. The rotations of the three ends of the ankle joint are transmitted to the rotation pair of the knee joint. There are coaxial cylindrical pairs that can axially micro-move between the thigh friction end, the calf friction end and the six friction disc connecting rods, which can realize a single It has 3 ankle joints, 3 hip joints, and 1 knee joint, a total of 7 degrees of freedom, and a locking function at any position.

(3) Utilize a thrust spring of medium and low stiffness, a static amplification structure, and a low-power electromagnetic chuck to realize the power-on transposition and power-off locking functions, effectively reducing energy consumption and saving energy and costs.

The spring thrust can be amplified to 300 times the built-in spring thrust through the built-in special six-bar mechanism and transmitted to the No. 1 clamping link of the clamping device and the No. 2 clamping link of the clamping device, providing sufficient locking force. , thus providing reliable locking force for each joint degree of freedom and achieving stable support in any posture;

(4) The multi-stage parallel four-bar mechanism of the auxiliary support part of the foot is used to effectively increase the actual foot support area. The auxiliary support part of the foot can be used to realize that in the locked position, the projection position of the center of gravity on the sole of the foot is always within the support surface of the sole of the foot, thus ensuring the stability of the overall center of gravity and avoiding overall subversion. The low-stiffness tension spring and electromagnetic chuck are combined to realize the function of shrinking when the power is turned on and extending when the power is turned off, which enhances the safety of the exoskeleton and saves energy.

(5) This exoskeleton is easy to wear, easy to operate, simple, flexible in movement, strong in load-bearing capacity, safe and reliable, and does not require driving. It can provide sufficient and reliable support for workers in any posture to achieve stable support for the lower limbs.

(6) Compared with existing seat-type exoskeletons and spring-assisted support exoskeletons, this exoskeleton has stronger adaptability, and the degrees of freedom of each joint are more in line with the actual human body, and can support the stability of the human lower limbs in any complex posture. support. Compared with existing driven exoskeletons, it has the advantages of low cost, low weight, low energy consumption, and easy operation. Its easy portability can support its work in other complex working conditions such as outdoors.

Description of the drawings

Figure 1 is a schematic diagram of the overall structure of the present invention.

Figure 2 is a schematic diagram of the thoracoabdominal support plate connection of the present invention.

Figure 3 is a schematic diagram of the partial structure of the hip joint of the present invention.

Figure 4 is a partial structural diagram of the ankle joint of the present invention.

Figure 5 is a schematic structural diagram of the knee joint locking part of the present invention.

Figure 6 is a schematic structural diagram of the sole auxiliary support part of the present invention.

In the picture: 1. Hip joint part; 11. Hip joint No. 1 branch; 12. Hip joint No. 2 branch; 13. Hip joint No. 3 branch; 14. Thoracic and ventral end ball panel; 15. Thigh rod; 111. Hip joint No.1 branch chain No.1 spherical connecting rod; 112. Hip joint No.1 branch chain No.2 spherical connecting rod; 113. Hip joint No.1 branch chain No.3 spherical connecting rod; 114. Hip joint No.1 branch chain Transmission connecting rod; 115. No. 1 hip joint branch chain friction disc connecting rod; 121. No. 2 hip joint branch chain No. 1 spherical connecting rod; 122. Hip joint No. 2 branch chain No. 2 spherical connecting rod; 123. Hip joint No. 2 branch chain No. 3 branch chain spherical connecting rod; 124. Hip joint No. 2 branch chain transmission connecting rod; 125. Hip joint No. 2 branch chain friction disc connecting rod; 131. Hip joint No. 3 branch chain No. 1 spherical connecting rod; 132. Hip joint No.3 branch chain No.2 spherical connecting rod; 133. Hip joint No.3 branch chain No.3 spherical connecting rod; 134. Hip joint No.3 branch chain transfer connecting rod; 135. Hip joint No.3 branch chain friction disc connecting rod ;

2. Ankle joint part; 21. Ankle joint No. 1 branch chain; 22. Ankle joint No. 2 branch chain; 23. Ankle joint No. 3 branch chain; 24. Plantar spherical connecting rod; 25. Calf rod; 26. Foot sole plate. ; 27. Plantar collar; 211. No. 1 branch chain of the ankle joint and No. 1 spherical connecting rod; 212. No. 1 branch chain of the ankle joint and No. 2 spherical connecting rod; 213. No. 1 branch chain transfer link of the ankle joint; 214. Friction plate connecting rod of ankle joint No.1 branch chain; 221. No.1 spherical connecting rod of ankle joint No.2 branch chain; 222. No.2 spherical connecting rod of ankle joint No.2 branch chain; 223. Transfer connecting rod of No.2 ankle joint branch chain ; 224. Friction disc connecting rod of No. 2 branch chain of ankle joint; 231. No. 1 spherical connecting rod of No. 3 branch chain of ankle joint; 232. No. 2 spherical connecting rod of No. 3 branch chain of ankle joint; 233. No. 3 branch chain of ankle joint Transmission connecting rod; 234, ankle joint No. 3 branch chain friction disc connecting rod;

3. Knee joint locking part; 31. No. 1 transfer link of the clamping device; 32. No. 2 transfer link of the clamping device; 33. No. 1 clamping link of the clamping device; 34. No. 2 clamp of the clamping device Tight connecting rod; 35. Fixed support of clamping device; 36. Thrust slider of clamping device; 37. Thrust spring; 38. Ring-shaped iron ring; 39. Ring-shaped electromagnetic sucker;

4. Foot auxiliary support part; 41. L-shaped slider; 42. Rear auxiliary support part transmission link; 43. Rear auxiliary support part slider shaft; 44. Rear folding support frame; 45. Side auxiliary Support part transfer link; 46. Side auxiliary support part slider shaft; 47. Side folding support frame; 48. Foot auxiliary support bearing; 49. Tension spring; 410. No. 1 long axis; 411. No. 2 Long axis; 412, electromagnetic chuck; 413, No. 3 long axis; 414, No. 4 long axis; 441, rear support No. 1 connecting rod; 442, rear support No. 2 connecting rod; 443, rear support No. 3 connecting rod Rod; 444, rear support connecting rod No. 4; 445, rear support connecting rod No. 5; 446, rear support connecting rod No. 6; 447, rear support shaft; 471, side support connecting rod No. 1; 472. The side supports the No. 2 connecting rod; 473. The side supports the No. 3 connecting rod; 474. The side supports the No. 4 connecting rod; 475. The side supports the No. 5 connecting rod; 476. The side supports the No. 6 connecting rod; 477 , Side support connecting rod No. 7; 478, Side support connecting rod No. 8; 479, Side support shaft;

5. The chest and abdomen rely on the board; 6. The thighs rely on the board; 7. The calves rely on the board; 8. The knee joint axis.

Detailed ways

Specific embodiments of the present invention are given below. The specific examples are only used to further illustrate the present invention and do not limit the scope of protection of the claims of this application.

The present invention provides a lower limb exoskeleton robot (referred to as exoskeleton, see Figures 1-6), which is characterized in that the exoskeleton includes a thorax and abdomen support plate 5, a left part and a right part; the left part and the right part have the same structure. Both include hip joint part 1, ankle joint part 2, knee joint locking part 3, foot auxiliary support part 4, thigh support plate 6, calf support plate 7 and knee joint axis 8;

The hip joint part 1 includes a hip joint No. 1 branch 11, a hip joint No. 2 branch 12, a hip joint No. 3 branch 13, a thorax-ventral end ball panel 14 and a thigh rod 15; hip joint No. 1 branch 11 Including the No. 1 branch chain of the hip joint, the No. 1 spherical connecting rod 111, the No. 1 branch chain of the hip joint, the No. 2 spherical connecting rod 112, the No. 1 branch chain of the hip joint, the No. 3 spherical connecting rod 113, and the No. 1 branch chain transfer link of the hip joint 114. and the No.1 hip joint branch chain friction plate connecting rod 115; the No.2 hip joint branch chain 12 includes the No.2 hip joint branch chain No.1 spherical connecting rod 121, the No.2 hip joint branch chain No.2 spherical connecting rod 122, the No.2 hip joint branch chain No.2 spherical connecting rod 122, and the No.2 hip joint branch chain No.2 spherical connecting rod 121. No. 3 branch chain spherical connecting rod 123, hip joint No. 2 branch chain transmission connecting rod 124 and hip joint No. 2 branch chain friction disc connecting rod 125; hip joint No. 3 branch chain 13 includes hip joint No. 3 branch chain No. 1 spherical surface Connecting rod 131, hip joint No. 3 branch chain No. 2 spherical connecting rod 132, hip joint No. 3 branch chain No. 3 spherical connecting rod 133, hip joint No. 3 branch chain transmission connecting rod 134 and hip joint No. 3 branch chain friction disc connection Rod 135;

The thoracoabdominal end ball panel 14 is fixed to the thoracoabdominal support plate 5 through bolts and nuts. The thoracoabdominal support plate 5 is used to support the waist and abdomen of the human body; the No. 1 hip joint branch chain No. 1 spherical connecting rod 111, the hip joint No. 2 The No. 1 spherical connecting rod 121 of the No. 3 branch chain of the hip joint and the No. 1 spherical connecting rod 131 of the No. 3 branch chain of the hip joint are both fixed on the thoracic and ventral end ball panel 14 through bolts and nuts; the No. 1 spherical connecting rod 111 of the No. 1 hip joint branch chain The lower end hole cooperates with the upper end hole of the hip joint branch chain No. 2 spherical link 112 to form the rotating pair A1; the lower end hole of the hip joint branch chain No. 2 spherical link 112 is connected to the hip joint branch chain No. 3 spherical surface. The upper end hole of the rod 113 cooperates to form the rotating pair A2; the middle end hole of the hip joint No. 1 branch chain No. 3 spherical connecting rod 113 cooperates with the upper end hole of the thigh rod 15 to form the rotating pair A3; the hip joint No. 2 branch chain No. 1 spherical connecting rod The lower end hole of 121 cooperates with the upper end hole of the hip joint branch chain No. 2 spherical link 122 to form the rotating pair B1; the lower end hole of the hip joint branch chain No. 2 spherical link 122 cooperates with the hip joint branch chain No. 2 No. 3. The upper end hole of the spherical connecting rod 123 cooperates to form the rotating pair B2; the middle end hole of the No. 3 spherical connecting rod 123 of the hip joint branch chain 123 cooperates with the upper end hole of the thigh rod 15 to form the rotating pair B3; the No. 1 spherical surface of the hip joint No. 3 branch chain The lower end hole of the connecting rod 131 cooperates with the upper end hole of the No. 2 spherical link 132 of the hip joint branch chain No. 3 to form the rotating pair C1; the lower end hole of the No. 2 spherical link 132 of the hip joint branch chain No. The upper end hole of the No. 3 spherical link 133 cooperates to form the rotating pair C2; the middle end hole of the No. 3 spherical link 133 of the hip joint branch chain 133 cooperates with the upper end hole of the thigh rod 15 to form the rotating pair C3; all the rotating pairs A1 of this part The rotation axes of , A2, A3, B1, B2, B3, C1, C2 and C3 converge at one point, which coincides with the center of the spherical motion of the user's body's hip joint; the No. 1 branch of the hip joint and the No. 3 spherical connecting rod 113. The movements of the No. 2 branch chain No. 3 spherical link 123 of the hip joint and the No. 3 spherical link 133 of the No. 3 hip joint branch chain relative to the thigh rod 15 are in the same plane;

The lower end hole of the No. 1 hip joint branch chain spherical connecting rod 113 cooperates with the upper end hole of the No. 1 hip joint branch chain transfer link 114 to form a rotating pair; the lower end hole of the No. 1 hip joint branch chain transfer link 114 cooperates with the hip joint No. The connecting rod end holes of the No. 1 branch chain friction disk connecting rod 115 cooperate to form a rotating pair; the friction disk end hole of the No. 1 branch chain friction disk connecting rod 115 of the hip joint and the friction disk end hole of the thigh rod 15 are formed by the cooperation of the knee joint shaft 8 Cylindrical pair A4 that can move axially slightly; the lower end hole of the No. 3 spherical link 123 of the hip joint branch chain No. 2 cooperates with the upper end hole of the transfer link 124 of the hip joint branch chain No. 2 to form a rotating pair; the No. 2 branch chain of the hip joint The lower end hole of the transmission connecting rod 124 cooperates with the connecting rod end hole of the hip joint branch chain friction disk connecting rod 125 to form a rotating pair; the friction disk end hole of the hip joint branch chain friction disk connecting rod 125 and the thigh rod 15 The friction plate end hole cooperates with the knee joint shaft 8 to form a cylindrical pair B4 that can move axially; the lower end hole of the hip joint No. 3 branch chain spherical connecting rod 133 and the upper end hole of the hip joint No. 3 branch chain transfer link 134 Cooperate to form a rotating pair; the lower end hole of the hip joint No. 3 branch chain transmission link 134 cooperates with the connecting rod end hole of the hip joint No. 3 branch chain friction disc connecting rod 135 to form a rotating pair; the hip joint No. 3 branch chain friction disc connecting rod cooperates The friction plate end hole of 135 and the friction plate end hole of the thigh rod 15 cooperate through the knee joint shaft 8 to form the axially fine-moving cylindrical pair C4; all the axially fine-moving cylindrical pairs A4, B4 and C4 of this part The rotation axes are coaxial, and the No. 1 hip joint branch chain friction disk connecting rod 115, the No. 2 hip joint branch chain friction disk connecting rod 125, and the No. 3 hip joint branch chain friction disk connecting rod 135 move in the same direction relative to the thigh rod 15. In the plane; the thigh supporting plate 6 is fixed to the thigh rod 15 through bolts and nuts, and is used to support the thigh part of the human body;

The ankle joint part 2 includes the No. 1 ankle branch 21, the No. 2 ankle branch 22, the No. 3 ankle branch 23, the plantar spherical connecting rod 24, the calf rod 25, the sole plate 26 and the sole collar. 27; The No. 1 ankle branch chain 21 includes the No. 1 ankle branch chain No. 1 spherical connecting rod 211, the No. 1 ankle joint branch chain No. 2 spherical connecting rod 212, the No. 1 ankle joint branch chain transfer link 213 and the No. 1 ankle joint branch chain. No. 2 branch chain friction disc connecting rod 214; No. 2 ankle joint branch chain 22 includes No. 2 ankle joint branch chain No. 1 spherical connecting rod 221, No. 2 ankle joint branch chain No. 2 spherical connecting rod 222, No. 2 ankle joint branch chain transmission Connecting rod 223 and ankle joint No. 2 branch chain friction disc connecting rod 224; ankle joint No. 3 branch chain 23 includes ankle joint No. 3 branch chain No. 1 spherical connecting rod 231, ankle joint No. 3 branch chain No. 2 spherical connecting rod 232, The No. 3 ankle branch chain transmission link 233 and the No. 3 ankle branch chain friction disc connecting rod 234;

The plantar spherical connecting rod 24 is fixed on the sole plate 26 through bolts and nuts; the upper end hole of the plantar spherical connecting rod 24 cooperates with the upper end hole of the No. 2 branch chain No. 1 spherical connecting rod 221 of the ankle joint to form the rotating pair E1; the plantar spherical surface The middle end hole of the connecting rod 24 cooperates with the upper end hole of the No. 1 spherical link 211 of the No. 1 branch chain of the ankle joint and the upper end hole of the No. 1 spherical link 231 of the No. 3 branch chain of the ankle joint respectively to form the rotating pair D1 and the rotating pair F1; The lower end hole of the No. 1 spherical link 221 of the No. 2 branch of the ankle joint cooperates with the upper end hole of the No. 2 spherical link 222 of the No. 2 branch of the ankle joint to form a rotating pair E2; The middle end hole cooperates with the lower end hole of the calf rod 25 to form the rotating pair E3; the lower end hole of the No. 1 ankle branch chain No. 1 spherical connecting rod 211 cooperates with the upper end hole of the No. 1 ankle joint branch chain No. 2 spherical connecting rod 212 to form a rotating pair. Deputy D2; the middle hole of the No. 2 spherical connecting rod 212 of the No. 1 branch of the ankle joint cooperates with the lower end hole of the calf rod 25 to form a rotating pair D3; the lower end hole of the No. 1 spherical connecting rod 231 of the No. 3 branch of the ankle joint cooperates with the ankle joint The upper end hole of the No. 2 spherical link 232 of the No. 3 branch chain cooperates to form the rotating pair F2; the middle end hole of the No. 2 spherical link 232 of the No. 3 branch chain of the ankle joint cooperates with the lower end hole of the calf rod 25 to form the rotating pair F3; this part The rotation axes of all the rotating pairs E1, E2, E3, D1, D2, D3, F1, F2 and F3 converge at one point, which coincides with the center of the spherical motion of the ankle joint of the user's body; No. 2 branch chain of the ankle joint The movements of the No. 2 spherical link 222, the No. 2 spherical link 212 of the No. 1 ankle branch, and the No. 2 spherical link 232 of the No. 3 ankle branch relative to the calf rod 25 are in the same plane;

The lower end hole of the No. 2 ankle branch chain spherical link 222 cooperates with the lower end hole of the No. 2 ankle branch chain transfer link 223 to form a rotating pair; the upper end hole of the No. 2 ankle joint branch chain transfer link 223 is connected with the ankle joint The connecting rod end hole of the No. 2 branch chain friction disk connecting rod 224 cooperates to form a rotating pair; the friction disk end hole of the No. 2 branch chain friction disk connecting rod 224 of the ankle joint cooperates with the friction disk end hole of the calf rod 25 through the knee joint shaft 8 A cylindrical pair E4 that can move axially is formed; the lower end hole of the No. 2 spherical link 212 of the No. 1 ankle branch cooperates with the lower end hole of the No. 1 ankle branch transmission link 213 to form a rotating pair; the No. 1 ankle branch The upper end hole of the chain transmission connecting rod 213 cooperates with the connecting rod end hole of the ankle joint No. 1 branch chain friction disk connecting rod 214 to form a rotating pair; the friction disk end hole of the ankle joint No. 1 branch chain friction disk connecting rod 214 cooperates with the calf rod 25 The end hole of the friction plate cooperates with the knee joint shaft 8 to form a cylindrical pair D4 that can be axially micro-moved; the lower end hole of the No. 3 branch chain of the ankle joint and the second spherical connecting rod 232 is connected with the lower end of the No. 3 branch chain transmission link 233 of the ankle joint. The holes cooperate to form a rotating pair; the upper end hole of the ankle joint No. 3 branch chain transmission link 233 cooperates with the connecting rod end hole of the ankle joint No. 3 branch chain friction disc connecting rod 234 to form a rotating pair; the ankle joint No. 3 branch chain friction disc connection The friction plate end hole of the rod 234 and the friction plate end hole of the calf rod 25 cooperate through the knee joint shaft 8 to form an axially fine-moving cylindrical pair F4; all the axially fine-moving cylindrical pairs E4, D4 and F4 of this part The rotation axes of the ankle joint are coaxial, and the movement of the ankle joint friction plate connecting rod No. 1 branch chain 214, the ankle joint branch chain friction disk connecting rod No. 2 224 and the ankle joint branch chain friction disk connecting rod No. 3 234 relative to the calf rod 25 is in In the same plane; the calf leaning plate 7 is fixed on the calf rod 25 through bolts and nuts, and is used to support the calf part of the human body;

The knee joint locking part 3 includes a clamping device No. 1 transfer link 31, a clamping device No. 2 transfer link 32, a clamping device No. 1 clamping link 33, and a clamping device No. 2 clamping link 34. , clamping device fixed support 35, clamping device thrust slider 36 and thrust spring 37;

The friction plate end hole of the calf rod 25 and the friction plate end hole of the thigh rod 15 cooperate through the knee joint shaft 8 to form a cylindrical pair that can move axially; the clamping device fixed support 35 is fixed on the thigh rod 15 through bolts and nuts; The two side end holes of the clamping device fixed support 35 cooperate with the middle end holes of the No. 1 clamping link 33 of the clamping device and the No. 2 clamping link 34 of the clamping device respectively to form a rotating pair; the No. 2 clamping device The upper end hole of the clamping link 34 cooperates with the upper end hole of the clamping device No. 1 transfer link 31 to form a rotating pair; the upper end hole of the No. 1 clamping link 33 of the clamping device and the No. 2 transfer link 32 of the clamping device cooperate. The upper end holes cooperate to form a rotating pair; the upper end holes of the clamping device thrust slider 36 cooperate with the lower end holes of the clamping device No. 1 transfer link 31 and the clamping device No. 2 transfer link 32 respectively to form a rotating pair; the clamping device thrust The lower end shaft of the slider 36 cooperates with the middle hole of the clamping device fixed support 35 to form a moving pair; the thrust spring 37 is nested on the lower end shaft of the clamping device thrust slider 36, and the lower end of the thrust spring 37 is in contact with the clamping device. The fixed support 35 is fixed, and the upper end is fixed with the clamping device thrust slider 36; the clamping device thrust slider 36 and the clamping device fixed support 35 can move toward each other through external force to unlock (this embodiment is: clamp An annular iron ring 38 is fixed at the lower end of the thrust slider 36 of the tightening device, and an annular electromagnetic chuck 39 is fixed at the upper end of the clamping device fixed support 35; when energized, the annular electromagnetic chuck 39 and the annular iron ring 38 attract each other through magnetic force to overcome the problem. The thrust of the thrust spring 37 causes the clamping device thrust slider 36 to move toward the clamping device fixed support 35, thereby releasing the lock);

The friction disk end of the hip joint No. 3 branch chain friction disk connecting rod 135, the friction disk end of the hip joint No. 2 branch chain friction disk connecting rod 125, the friction disk end of the thigh rod 15, the friction disk end of the hip joint No. 1 branch chain friction disk connecting rod 115, the friction disk end of the ankle joint No. 3 branch chain friction disk connecting rod 234, the friction disk end of the calf rod 25, the friction disk end of the ankle joint No. 1 branch chain friction disk connecting rod 214 and the ankle joint No. 2 The friction disc end of the branch chain friction disc connecting rod 224 is arranged in sequence between the end clamping plate of the No. 1 clamping link 33 of the clamping device and the No. 2 clamping link 34 of the clamping device, and all friction discs in this part The end surfaces cooperate in sequence to form planar friction pairs H1, H2, H3, H4, H5, H6 and H7;

The knee joint shaft 8 passes through the friction disk end hole of the hip joint No. 3 branch chain friction disk connecting rod 135, the friction disk end hole of the hip joint No. 2 branch chain friction disk connecting rod 125, the friction disk end hole of the thigh rod 15, The friction plate end hole of the friction plate connecting rod 115 of the No. 1 branch chain of the hip joint, the friction plate end hole of the friction plate connecting rod 234 of the No. 3 ankle joint branch chain, the friction plate end hole of the calf rod 25, the friction plate No. 1 branch chain of the ankle joint The friction disc end hole of the disc connecting rod 214 and the friction disc end hole of the ankle joint No. 2 branch chain friction disc connecting rod 224, the shaft end is axially limited by the retaining ring;

The foot auxiliary support part 4 includes an L-shaped slider 41, a rear auxiliary support part transfer link 42, a rear auxiliary support part slider shaft 43, a rear folding support frame 44, and a side auxiliary support part transfer link. 45. Side auxiliary support part slider shaft 46, side folding support frame 47, sole auxiliary support bearing 48 and tension spring 49;

The sole auxiliary support bearing 48 is fixed on the sole plate 25 through bolts and nuts; the sole auxiliary support bearing 48 is fixed with the No. 1 long axis 410, the No. 2 long axis 411, the No. 3 long axis 413 and the No. 4 long axis. 414; The four through holes of the L-shaped slider 41 cooperate with the No. 1 long axis 410, the No. 2 long axis 411, the No. 3 long axis 413 and the No. 4 long axis 414 to form a moving pair: the No. 2 long axis 411 and the No. 3 long axis. At least one of the long shafts 413 is nested with a tension spring 49. The lower end of the tension spring 49 is consolidated with the sole auxiliary support bearing 48, and the upper end is consolidated with the L-shaped slider 41; the L-shaped slider 41 is coupled with the sole auxiliary support. The supports 48 can move in opposite directions through external force so that the rear folding support frame 44 and the side folding support frame 47 are folded and not unfolded (this embodiment is: the upper end of the second long axis 411 is fixed with an electromagnetic chuck 412; when powered on, The electromagnetic chuck 412 and the L-shaped slider 41 overcome the pulling force of the tension spring 49 through magnetic attraction, causing the L-shaped slider 41 to move away from the sole auxiliary support support 48, thereby causing the rear folding support frame 44 and the side folding support frame. 47 is stowed but not unfolded); the side end hole of the L-shaped slider 41 cooperates with the upper end hole of the side auxiliary support part transmission link 45 to form a rotating pair; the lower end hole of the side auxiliary support part transmission link 45 cooperates with the side auxiliary part The upper end hole of the support part slider shaft 46 cooperates to form a rotating pair; the lower end shaft of the side auxiliary support part slider shaft 46 cooperates with the side folding support frame 47 to form a rotating pair; the No. 1 long axis 410 and the side folding support frame 47 Cooperate to form a rotating pair; the rear end hole of the L-shaped slider 41 cooperates with the upper end hole of the rear auxiliary support part transfer link 42 to form a rotating pair; the lower end hole of the rear auxiliary support part transfer link 42 and the rear auxiliary support part The upper end hole of the slider shaft 43 cooperates to form a rotating pair; the lower end shaft of the rear auxiliary support part slider shaft 43 cooperates with the rear folding support frame 44 to form a rotating pair; the No. 4 long axis 414 cooperates with the rear folding support frame 44 to form rotating pair;

The rear folding support frame 44 includes rear support link No. 1 441, rear support link No. 2 442, rear support link No. 3 443, rear support link No. 4 444, and rear support link No. 5. Connecting rod 445, rear support connecting rod No. 6 446 and rear support shaft 447; side folding support frame 47 includes side supporting connecting rod No. 1 471, side supporting connecting rod No. 2 472, and side supporting connecting rod No. 3 Connecting rod 473, side support connecting rod No. 4 474, side supporting connecting rod No. 5 475, side supporting connecting rod No. 6 476, side supporting connecting rod No. 7 477, side supporting connecting rod No. 8 478 and side supporting connecting rod No. 8 Ministry support shaft 479;

The No. 1 long axis 410 cooperates with the upper end hole of the No. 1 connecting rod 471 on the side and the upper end hole of the No. 2 connecting rod 472 on the side to form a rotating pair; the lower end hole of the No. 1 connecting rod 471 on the side supports the side support. The upper end hole of the No. 4 connecting rod 474 cooperates to form a rotating pair; the lower end hole of the side support No. 2 connecting rod 472 cooperates with the upper end hole of the side support No. 3 connecting rod 473 to form a rotating pair; the side auxiliary support part slider shaft 46 The lower end shaft cooperates with the middle end hole of the side support connecting rod No. 4 474 and the middle end hole of the side support connecting rod No. 3 473 to form a rotating pair; the lower end hole of the side support connecting rod No. 4 474 and the side support The upper end hole of the No. 5 connecting rod 475 cooperates to form a rotating pair; the lower end hole of the side supporting the No. 3 connecting rod 473 cooperates with the upper end hole of the side supporting the No. 6 connecting rod 476 to form a rotating pair; the side supporting the No. 5 connecting rod 475 The middle end hole cooperates with the middle end hole of the side support No. 6 connecting rod 476 to form a rotating pair; the lower end hole of the side supporting No. 5 connecting rod 475 cooperates with the upper end hole of the side supporting No. 8 connecting rod 478 to form a rotating pair; The lower end hole of the No. 6 connecting rod 476 in the upper part cooperates with the upper end hole of the No. 7 connecting rod 477 in the side support to form a rotating pair; The lower end hole of the rear support connecting rod No. 7 477 cooperates to form a rotating pair; the long axis 414 cooperates with the upper end hole of the rear supporting connecting rod No. 1 441 and the upper end hole of the rear supporting connecting rod No. 2 442 to form a rotating pair respectively; The lower end hole of the rear support link 441 and the upper end hole of the third link 443 cooperate to form a rotating pair; the lower end hole of the rear support link 442 and the upper end of the fourth link 444 are formed. The holes cooperate to form a rotating pair; the lower end shaft of the slider shaft 43 of the rear auxiliary support part cooperates with the middle end hole of the rear supporting connecting rod No. 3 443 and the middle end hole of the rear supporting connecting rod No. 4 444 to form a rotating pair respectively. ; The lower end hole of the rear support connecting rod No. 3 443 cooperates with the upper end hole of the rear support connecting rod No. 6 446 to form a rotating pair; the lower end hole of the rear support connecting rod No. 4 444 and the rear support connecting rod No. 5 445 The upper end holes cooperate to form a rotating pair; the shaft end of the rear support shaft 447 cooperates with the lower end hole 445 of the rear supporting the No. 6 connecting rod 446 and the lower end hole 445 of the rear supporting the No. 5 connecting rod to form a rotating pair.

The working principle and work flow of the present invention are:

The relative motion between the thoracoabdominal support plate 5 and the thigh bar 15 is hip joint motion, which has three degrees of freedom, namely hip joint extension/flexion degree of freedom, hip joint adduction/abduction degree of freedom and hip joint internal rotation/external rotation. The degree of freedom of rotation; the relative motion between the thigh rod 15 and the calf rod 25 is the knee joint movement, which has one degree of freedom, namely the knee joint extension/flexion freedom; the relative motion between the calf rod 25 and the sole of the foot 26 is the ankle joint Movement has three degrees of freedom, namely, ankle joint extension/flexion freedom, ankle joint adduction/abduction freedom, and ankle joint internal rotation/external rotation freedom.

Function of hip joint part 1: When the user performs actions that place heavy burden on the hip joint such as bending over or turning sideways, the function of hip joint part 1 is particularly obvious. The waist and abdomen of the human body and the thorax and abdomen are consolidated by the plate 5; the waist and abdomen of the human body drive the movement of the thorax and the abdomen by the plate 5, and the plate 5 of the thorax and abdomen is consolidated by the hip joint No. 1 branch chain No. 1 spherical connecting rod 111 through the thoracoabdominal side end ball panel 14. The No. 2 hip joint branch chain No. 1 spherical connecting rod 121 and the hip joint No. 3 branch chain No. 1 spherical connecting rod 131 make it move relative to the thigh rod 15, thereby triggering the three branches through the three branch chains. The movement of the chain end; the No. 1 hip joint branch chain No. 1 spherical connecting rod 111, the hip joint No. 2 branch chain No. 1 spherical connecting rod 121 and the hip joint No. 3 branch chain No. 1 spherical connecting rod 131 drive the hip joint No. 1 branch respectively. The chain No. 3 spherical connecting rod 113, the hip joint No. 2 branch chain No. 3 spherical connecting rod 123, and the hip joint No. 3 branch chain No. 3 spherical connecting rod 133 rotate coaxially relative to the thigh rod 15 in the plane of the thigh rod. On this basis, combined with the planar four-bar mechanism, the coaxial rotation in the plane of the three thigh bars is transmitted to the knee joint movement between the thigh bar 15 and the calf bar 25 with a single degree of freedom; the hip joint No. 1 branch chain No. 3 Spherical connecting rod 113, hip joint No. 2 branch chain No. 3 spherical connecting rod 123 and hip joint No. 3 branch chain No. 3 spherical connecting rod 133 drive hip joint No. 1 branch chain friction disc connecting rod 115, hip joint No. 2 branch chain friction The disc connecting rod 125 and the hip joint No. 3 branch chain friction disc connecting rod 135 rotate coaxially relative to the thigh rod 15 in the plane of the thigh rod. Definition of the coaxial rotation of the hip joint No. 1 branch chain friction plate connecting rod 115, the hip joint No. 2 branch chain friction plate connecting rod 125 and the hip joint No. 3 branch chain friction plate connecting rod 135 relative to the thigh rod 15 in the thigh rod plane. Locking movement for the end of the hip joint. When the posture of the hip joint, that is, the posture of the thorax and abdomen support plate 5 relative to the thigh bar 15 is determined, suppressing the locking movement of the end of the hip joint can lock the movement of the hip joint and achieve the stable support function of the hip joint.

Ankle joint part 2 function: When the user performs actions such as lunges and half-squats with heavy loads on the ankle joint, the function of ankle joint part 2 is particularly obvious. The lower leg of the human body is fixed to the lower leg leaning plate 7; the lower leg of the human body drives the relative movement between the lower leg rod 25 and the sole plate 26 through the lower leg leaning plate 7. When the sole plate 26 moves relative to the calf rod 25, because the sole plate 26 is fixed with the plantar spherical connecting rod 24, the plantar spherical connecting rod 24 also moves relative to the calf rod 25, so that through the three branch chains, Trigger the movement of the ends of the three branch chains; the plantar spherical link 24 drives the No. 1 ankle branch chain No. 1 spherical link 211, the No. 2 ankle branch chain No. 1 spherical link 221 and the No. 3 ankle branch chain respectively. The No. 1 spherical connecting rod 231 thereby drives the No. 1 ankle branch chain No. 2 spherical connecting rod 212, the No. 2 ankle joint branch chain No. 2 spherical connecting rod 222 and the No. 3 ankle joint branch chain No. 2 spherical connecting rod 232 relative to the calf rod. 25 performs coaxial rotation in the plane of the calf rod; on this basis, combined with the planar four-bar mechanism, the coaxial rotation in the plane of the three calf rods is transmitted to the knee joint movement with a single degree of freedom; ankle joint No. 1 branch chain 2 The No. 2 spherical connecting rod 212, the No. 2 branch chain of the ankle joint 222, and the No. 2 spherical connecting rod 232 of the No. 3 branch chain of the ankle joint respectively drive the No. 1 ankle joint chain friction disc connecting rod 214 and the No. 2 ankle joint branch. The chain friction plate connecting rod 224 and the ankle joint No. 3 branch chain friction plate connecting rod 234 rotate coaxially relative to the calf rod 25 in the plane of the calf rod. The definition of the coaxial rotation of the ankle joint No. 1 branch chain friction plate connecting rod 214, the ankle joint No. 2 branch chain friction plate connecting rod 224 and the ankle joint No. 3 branch chain friction plate connecting rod 234 relative to the calf rod 25 in the plane of the calf rod. Locking movement for the end of the ankle joint. When the posture of the ankle joint, that is, the posture of the sole plate 26 relative to the calf rod 25 is determined, inhibiting the locking movement of the end of the ankle joint can lock the movement of the ankle joint and achieve the stable support function of the ankle joint.

Function of the knee joint locking part 3: When the user performs actions such as knee bending and horse stance, the function of the knee joint locking part 3 is particularly obvious. The human thigh and the thigh support plate 6 are consolidated, and the human thigh drives the thigh rod 15 to rotate relative to the calf rod 25 through the thigh support plate 6 . The rotation of the thigh rod 15 relative to the calf rod 25 is defined as the knee joint end locking movement. When the posture of the knee joint, that is, the posture of the thigh rod 25 relative to the calf rod 25 is determined, suppressing the locking movement of the end of the knee joint can lock the movement of the knee joint and realize the stable support function of the knee joint.

When the overall posture of the human lower limbs is determined, that is, when the postures of the hip joint, ankle joint and knee joint are all determined, the external force exerted between the thrust slider 36 of the clamping device and the fixed support 35 of the clamping device is released (this embodiment is a ring-shaped electromagnetic The suction cup 39 and the annular iron ring 38 are powered off and do not attract each other), and the thrust spring 37 is released; the thrust released by the thrust spring 37 pushes the clamping device thrust slider 36 to move away from the clamping device fixed support 35; the clamping device thrust The slider 36 drives the No. 2 clamping link 34 of the clamping device and the No. 1 clamping link 33 of the clamping device respectively through the No. 1 transfer link 31 of the clamping device and the No. 2 transfer link 32 of the clamping device relative to the clamping device. The fixed support 35 of the device rotates, and the relative distance between the clamping ends of the No. 2 clamping link 34 of the clamping device and the No. 1 clamping link 33 of the clamping device decreases, and an enlarged locking force is output; the second clamping device The No. 1 clamping link 34 and the No. 1 clamping link 33 of the clamping device cooperate to once-clamp the friction disc end of the No. 3 hip joint branch chain friction disc connecting rod 135 and the No. 2 hip joint branch chain friction disc connecting rod 125. Friction disc end, friction disc end of thigh rod 15, friction disc end of hip joint No.1 branch chain friction disk connecting rod 115, friction disk end of ankle joint No.3 branch chain friction disk connecting rod 234, friction disk of calf rod 25 The friction disc end of the No. 1 ankle branch chain friction disc connecting rod 214 and the friction disc end of the No. 2 ankle joint branch chain friction disc connecting rod 224 inhibit the hip joint end locking movement, the knee joint end locking movement and the ankle joint. The joint end locks movement and locks the 7 degrees of freedom of the single branch chain, thereby locking the hip, knee and ankle joints. The single branch chain becomes a rigid body, which can provide stable support for the user's lower limbs.

Function of the sole auxiliary support part 4: When the user's required posture is relatively complex, causing the center of gravity to not be within the support surface of the sole plate 26, the external force exerted between the electromagnetic suction cup 412 and the L-shaped slider 41 is released (this embodiment is When the electromagnetic chuck 412 and the L-shaped slider 41 are powered off and no attraction occurs), the tension spring 49 is released; the tension released by the tension spring 49 pulls the L-shaped slider 41 and the foot auxiliary support support 48 to move toward each other; the L-shaped slider 41 respectively The side auxiliary support part transfer link 45 and the rear auxiliary support part transfer link 42 drive the side auxiliary support part slider shaft 46 and the rear auxiliary support part slider shaft 43 to move outward; the side auxiliary support part slides The block shaft 46 pushes the side-end multi-stage parallel four-bar mechanism to unfold, and cooperates with the side support shaft 479 provided at the end of the multi-stage parallel four-bar mechanism to increase the lateral support area of the foot; the rear auxiliary support part is pushed by the slider shaft 43 The multi-stage parallel four-bar mechanism at the rear end is deployed, and is supported by the rear bearing shaft 447 provided at the end of the multi-stage parallel four-bar mechanism to increase the rear support area of the foot; the multi-stage parallel four-bar mechanism has no resistance in its extension direction, so it is The spring stiffness requirement is not high, making the sole auxiliary support part 4 more sensitive to triggering, greatly increasing safety and reliability.

When using this exoskeleton, human thighs and thighs are fixed together with the support plate 6 , lower legs and lower legs are connected with the support plates 7 , waist and abdomen and thorax and abdomen are connected with the support plates 5 , and the toes are put on the sole loops 27 . When the user walks or selects a posture, he only needs to apply an external force between the clamping device thrust slider 36 and the clamping device fixed support 35 (in this embodiment, the annular electromagnetic chuck 39 and the annular iron ring 38 are energized to generate attraction). The relative movement between the clamping device fixed support 35 and the clamping device thrust slider 36 releases the locking state, and the exoskeleton can follow the human body to adapt to various complex movements. When the user determines that the posture needs stable support, he only needs to release the external force exerted between the clamping device thrust slider 36 and the clamping device fixed support 35 (in this embodiment, the annular electromagnetic sucker 39 and the annular iron ring 38 are disconnected. (Electricity does not cause attraction), the exoskeleton can provide stable support for the human body in selected postures.

The parts not described in the present invention are applicable to the existing technology.

Claims (9)

1. A lower limb exoskeleton robot, characterized in that the exoskeleton includes a thoracoabdominal support plate, a left part and a right part; the left part and the right part have the same structure, including a hip joint part, an ankle joint part, and a locked knee joint. part, plantar auxiliary support part, thigh support plate, calf support plate and knee joint axis; The hip joint part includes the hip branch No. 1, the hip branch No. 2, the hip branch No. 3, the thoracic and ventral end ball panels and the thigh rod; the hip branch No. 1 includes the hip branch No. 1. No.1 spherical connecting rod, No.1 hip branch chain No.2 spherical connecting rod, No.1 hip branch chain No.3 spherical connecting rod, No.1 hip branch chain transfer link and No.1 hip branch chain friction disc connecting rod ; Hip joint No. 2 branch chain includes hip joint No. 2 branch chain No. 1 spherical connecting rod, hip joint No. 2 branch chain No. 2 spherical connecting rod, hip joint No. 2 branch chain No. 3 spherical connecting rod, hip joint No. 2 branch chain The transmission connecting rod and the friction plate connecting rod of the hip joint No. 2 branch; the hip joint No. 3 branch chain includes the hip joint No. 3 branch chain No. 1 spherical connecting rod, the hip joint No. 3 branch chain No. 2 spherical connecting rod, and the hip joint No. 3 branch chain. Branch chain No. 3 spherical connecting rod, hip branch chain No. 3 transfer link and hip branch chain No. 3 friction disc connecting rod; The thoracic and abdominal end spherical panels are fixed on the thoracic and abdominal supporting plates, which are used to support the waist and abdomen of the human body; the No. 1 branch chain of the hip joint is the No. 1 spherical connecting rod, and the No. 2 branch chain of the hip joint is the No. 1 spherical connecting rod. The rod and the No. 3 branch chain of the hip joint and the No. 1 spherical connecting rod are both fixed on the thoracic and ventral end ball panels; the lower end hole of the No. 1 spherical connecting rod of the No. 1 branch chain of the hip joint is connected to the No. 2 spherical connecting rod of the No. 1 branch chain of the hip joint. The upper end holes of the hip joint branch chain No. 2 cooperate to form a rotating pair; the lower end hole of the hip joint branch chain No. 2 spherical link cooperates with the upper end hole of the hip joint branch chain No. 3 spherical link to form a rotating pair; the hip joint branch chain No. 1 No. 3 The middle end hole of the spherical connecting rod cooperates with the upper end hole of the thigh rod to form a rotating pair; the lower end hole of the No. 1 spherical connecting rod of the No. 2 branch chain of the hip joint cooperates with the upper end hole of the No. 2 spherical connecting rod of the No. 2 branch chain of the hip joint to form a rotating pair. ; The lower end hole of the No. 2 spherical connecting rod of the No. 2 branch chain of the hip joint cooperates with the upper end hole of the No. 3 spherical connecting rod of the No. 2 branch chain of the hip joint to form a rotating pair; the middle end hole of the No. 3 spherical connecting rod of the No. 2 branch chain of the hip joint is formed. It cooperates with the upper end hole of the thigh rod to form a rotating pair; the lower end hole of the No. 1 spherical connecting rod of the No. 3 branch chain of the hip joint cooperates with the upper end hole of the No. 2 spherical connecting rod of the No. 3 branch chain of the hip joint to form a rotating pair; the No. 3 branch chain of the hip joint forms a rotating pair. The lower end hole of the No. 2 spherical link cooperates with the upper end hole of the No. 3 spherical link of the hip joint branch chain to form a rotating pair; the middle end hole of the No. 3 spherical link of the hip joint branch chain cooperates with the upper end hole of the thigh rod to form a rotating pair. Rotating pair; the rotation axes of all rotating pairs in this part converge at one point, which coincides with the center of the spherical motion of the human hip joint; hip joint No. 1 branch chain No. 3 spherical connecting rod, hip joint No. 2 branch chain No. 3 The movement of the spherical link and the No. 3 hip joint branch chain No. 3 spherical link relative to the thigh rod is in the same plane; The lower end hole of the No. 3 spherical connecting rod of the No. 1 hip joint branch cooperates with the upper end hole of the No. 1 hip joint branch chain transfer link to form a rotating pair; the lower end hole of the No. 1 hip joint branch chain transfer link cooperates with the No. 1 hip joint branch chain. The connecting rod end holes of the friction plate connecting rod cooperate to form a rotating pair; the friction plate end hole of the hip joint branch chain friction plate connecting rod and the friction plate end hole of the thigh rod cooperate through the knee joint shaft to form a cylinder that can move axially. pair; the lower end hole of the No. 3 spherical connecting rod of the No. 2 branch chain of the hip joint cooperates with the upper end hole of the No. 2 branch chain transfer link of the hip joint to form a rotating pair; the lower end hole of the No. 2 branch chain transfer link of the hip joint cooperates with the No. The connecting rod end holes of the No. 2 branch chain friction disk connecting rod cooperate to form a rotating pair; the friction disk end hole of the No. 2 branch chain friction disk connecting rod of the hip joint and the friction disk end hole of the thigh rod cooperate through the knee joint shaft to form an axial micro A moving cylindrical pair; the lower end hole of the No. 3 spherical connecting rod of the hip joint branch chain cooperates with the upper end hole of the No. 3 branch chain transfer link of the hip joint to form a rotating pair; the lower end hole of the No. 3 branch chain transfer link of the hip joint cooperates with The connecting rod end holes of the hip joint No. 3 branch chain friction disk connecting rod cooperate to form a rotating pair; the friction disk end hole of the hip joint No. 3 branch chain friction disk connecting rod and the friction disk end hole of the thigh rod cooperate to form a rotating pair through the knee joint shaft. Axial micro-movement cylindrical pairs; the rotation axes of all axial micro-movement cylindrical pairs in this part are coaxial; the thigh support plate is fixed on the thigh rod and is used to support the thigh part of the human body; The ankle joint part includes the No. 1 ankle branch, the No. 2 ankle branch, the No. 3 ankle branch, the plantar spherical connecting rod, the calf rod, the sole plate and the sole collar; the No. 1 ankle branch Including the No. 1 ankle branch chain No. 1 spherical connecting rod, the No. 1 ankle branch branch chain No. 2 spherical connecting rod, the No. 1 ankle branch chain transfer link and the No. 1 ankle branch chain friction disc connecting rod; Ankle joint No. 2 The branch chain includes the No. 2 branch chain of the ankle joint, the No. 1 spherical connecting rod, the No. 2 branch chain of the ankle joint, the No. 2 spherical connecting rod, the No. 2 branch chain of the ankle joint transfer link and the No. 2 friction disc connecting rod of the ankle joint branch chain; ankle joint The No.3 branch chain includes the No.3 ankle branch chain No.1 spherical connecting rod, the ankle joint No.3 branch chain No.2 spherical connecting rod, the ankle joint No.3 branch chain transfer link and the ankle joint No.3 branch chain friction disc connecting rod; The plantar spherical connecting rod is fixed on the sole plate; the upper end hole of the plantar spherical connecting rod cooperates with the upper end hole of the No. 2 branch chain No. 1 spherical connecting rod of the ankle joint to form a rotating pair; the middle end hole of the plantar spherical connecting rod is respectively connected with The upper end hole of the No. 1 spherical connecting rod of the No. 1 branch chain of the ankle joint cooperates with the upper end hole of the No. 1 spherical connecting rod of the No. 3 branch chain of the ankle joint to form a rotating pair and a rotating pair; the lower end of the No. 1 spherical connecting rod of the No. 2 branch chain of the ankle joint is formed. The hole cooperates with the upper end hole of the No.2 spherical connecting rod of the No.2 branch chain of the ankle joint to form a rotating pair; the middle hole of the No.2 spherical connecting rod of the No.2 branch chain of the ankle joint cooperates with the lower end hole of the calf rod to form a rotating pair; the first hole of the ankle joint The lower end hole of the No.1 spherical connecting rod of the No.1 branch chain of the ankle joint cooperates with the upper end hole of the No.2 spherical connecting rod of the No.1 branch chain of the ankle joint to form a rotating pair; The lower end holes cooperate to form a rotating pair; the lower end hole of the No. 1 spherical link of the No. 3 branch of the ankle joint cooperates with the upper end hole of the No. 2 spherical link of the No. 3 branch of the ankle joint to form a rotating pair; the No. 2 spherical surface of the No. 3 branch of the ankle joint The middle end hole of the connecting rod cooperates with the lower end hole of the calf rod to form a rotating pair; the rotation axes of all the rotating pairs in this part converge at one point, which coincides with the center of the spherical motion of the human ankle joint; No. 2 branch chain of the ankle joint The movements of the No.2 spherical link, the No.2 spherical link of the No.1 ankle branch, the No.2 spherical link of the No.3 ankle branch, and the No.2 spherical link relative to the calf rod are in the same plane; The lower end hole of the No. 2 spherical connecting rod of the No. 2 ankle joint branch cooperates with the lower end hole of the No. 2 ankle joint branch chain transfer link to form a rotating pair; the upper end hole of the No. 2 ankle joint branch chain transfer link cooperates with the No. 2 ankle joint branch The connecting rod end hole of the chain friction plate connecting rod cooperates to form a rotating pair; the friction plate end hole of the ankle joint No. 2 branch chain friction plate connecting rod and the friction plate end hole of the calf rod cooperate through the knee joint shaft to form an axial micro-movement The cylindrical pair; the lower end hole of the No. 1 branch chain transfer link of the ankle joint and the lower end hole of the No. 1 ankle branch chain transfer link cooperate to form a rotating pair; the upper end hole of the No. 1 ankle branch chain transfer link is connected with the ankle joint The connecting rod end hole of the No. 1 branch chain friction disk connecting rod cooperates to form a rotating pair; the friction disk end hole of the No. 1 branch chain friction disk connecting rod of the ankle joint and the friction disk end hole of the calf rod cooperate through the knee joint shaft to form an axial Micro-moving cylindrical pair; the lower end hole of the No. 2 spherical link of the No. 3 branch chain of the ankle joint cooperates with the lower end hole of the No. 3 branch chain transfer link of the ankle joint to form a rotating pair; the upper end hole of the No. 3 branch chain transfer link of the ankle joint is It cooperates with the connecting rod end hole of the No. 3 branch chain friction disk connecting rod of the ankle joint to form a rotating pair; the friction disk end hole of the No. 3 branch chain friction disk connecting rod of the ankle joint and the friction disk end hole of the calf rod cooperate to form a rotating pair. The cylindrical pairs that can move axially slightly; the rotation axes of all the cylindrical pairs that can move axially slightly in this part are coaxial; the calf leaning plate is fixed on the calf rod and is used to support the calf part of the human body; The knee joint locking part includes the No. 1 transmission link of the clamping device, the No. 2 transmission link of the clamping device, the No. 1 clamping link of the clamping device, the No. 2 clamping link of the clamping device, and the fixed clamping device. Support, clamping device thrust slider and thrust spring; The friction plate end hole of the calf rod and the friction plate end hole of the thigh rod cooperate through the knee joint shaft to form a cylindrical pair that can move axially; the clamping device fixed support is fixed on the thigh rod; both sides of the clamping device fixed support Each side end hole cooperates with the middle end hole of the No. 1 clamping link of the clamping device and the No. 2 clamping link of the clamping device to form a rotating pair; the upper end hole of the No. 2 clamping link of the clamping device is in contact with the clamping device. The upper end hole of the No. 1 transmission connecting rod cooperates to form a rotating pair; the upper end hole of the No. 1 clamping connecting rod of the clamping device cooperates with the upper end hole of the No. 2 transmission connecting rod of the clamping device to form a rotating pair; the upper end of the thrust slider of the clamping device The holes cooperate with the lower end holes of the No. 1 transfer link of the clamping device and the No. 2 transfer link of the clamping device respectively to form a rotating pair; the lower end shaft of the thrust slide block of the clamping device cooperates with the middle hole of the fixed support of the clamping device to form a moving pair. Pair; the thrust spring is nested on the lower end shaft of the thrust slide block of the clamping device, the lower end is fixed with the fixed support of the clamping device, and the upper end is fixed with the thrust slide block of the clamping device; the thrust slide block of the clamping device and the clamp The fixed supports of the tightening device can move toward each other through external force to release the lock. 2. The lower limb exoskeleton robot according to claim 1, characterized in that the No. 1 hip joint branch chain friction disk connecting rod, the No. 2 hip joint branch chain friction disk connecting rod and the No. 3 hip joint branch chain friction disk connecting rod are opposite to each other. The movement of the thigh rod is in the same plane. 3. The lower limb exoskeleton robot according to claim 1, characterized in that the No. 1 ankle branch chain friction disk connecting rod, the No. 2 ankle joint branch chain friction disk connecting rod and the No. 3 ankle joint branch chain friction disk connecting rod are opposite to each other. The movement of the calf rod is in the same plane. 4. The lower limb exoskeleton robot according to claim 1, characterized in that the friction disk end of the hip joint No. 3 branch chain friction disk connecting rod, the friction disk end of the hip joint No. 2 branch chain friction disk connecting rod, the friction disk end of the thigh rod Friction disc end, the friction disc end of the hip joint No. 1 branch chain friction disc connecting rod, the friction disc end of the ankle joint No. 3 branch chain friction disc connecting rod, the friction disc end of the calf rod, the ankle joint No. 1 branch chain friction disc connection The friction disc end of the rod and the friction disc end of the No. 2 branch chain friction disc connecting rod of the ankle joint are arranged in sequence between the No. 1 clamping link of the clamping device and the No. 2 clamping link of the clamping device, and all the parts of this part The friction plate end surfaces cooperate in sequence to form a planar friction pair. 5. The lower limb exoskeleton robot according to claim 1, characterized in that the knee joint axis passes through the friction plate end hole of the hip joint No. 3 branch chain friction disk connecting rod and the hip joint No. 2 branch chain friction disk connecting rod in sequence. Friction plate end hole, friction plate end hole of thigh rod, friction plate end hole of hip joint No.1 branch chain friction disk connecting rod, friction disk end hole of ankle joint No.3 branch chain friction disk connecting rod, friction disk of calf rod The end hole, the friction plate end hole of the No. 1 ankle branch chain friction disk connecting rod and the friction disk end hole of the No. 2 ankle joint branch chain friction disk connecting rod, the shaft end is axially limited by the retaining ring. 6. The lower limb exoskeleton robot according to claim 1, characterized in that the lower end of the thrust slider of the clamping device is fixed with an annular iron ring, and the upper end of the fixed support of the clamping device is fixed with an annular electromagnetic chuck; when power is supplied, the annular iron ring The electromagnetic chuck and the annular iron ring overcome the thrust of the thrust spring through magnetic attraction, causing the thrust slide block of the clamping device to move toward the fixed support of the clamping device, thereby releasing the clamping. 7. The lower limb exoskeleton robot according to claim 1, characterized in that the exoskeleton further includes a sole auxiliary support part; the sole auxiliary support part includes an L-shaped slider, a rear auxiliary support part transfer link, The rear auxiliary support part slider shaft, the rear folding support frame, the side auxiliary support part transfer link, the side auxiliary support part slider shaft, the side folding support frame, the foot auxiliary support bearing and the tension spring; The sole auxiliary support bearing is fixed on the sole plate; the sole auxiliary support bearing is fixed with the No. 1 long axis, the No. 2 long axis, the No. 3 long axis and the No. 4 long axis; the four through holes of the L-shaped slider are They cooperate with the No. 1 long axis, the No. 2 long axis, the No. 3 long axis and the No. 4 long axis respectively to form a moving pair: at least one of the No. 2 long axis and the No. 3 long axis has a tension spring nested on it, and the lower end of the tension spring is in contact with the No. 3 long axis. The sole auxiliary support support is fixed, and the upper end is fixed with the L-shaped slider; the L-shaped slider and the sole auxiliary support support can move away from each other through external force, so that the rear folding support frame and the side folding support frame can be folded ; The side end hole of the L-shaped slider cooperates with the upper end hole of the transmission link of the side auxiliary support part to form a rotating pair; the lower end hole of the transmission link of the side auxiliary support part cooperates with the upper end hole of the slider shaft of the side auxiliary support part. Form a rotating pair; the lower end shaft of the slider shaft of the side auxiliary support part cooperates with the side folding support frame to form a rotating pair; the No. 1 long axis cooperates with the side folding support frame to form a rotating pair; the rear end hole of the L-shaped slider cooperates with the side folding support frame to form a rotating pair. The upper end hole of the transmission link of the rear auxiliary support part cooperates to form a rotating pair; the lower end hole of the transmission link of the rear auxiliary support part cooperates with the upper end hole of the slider shaft of the rear auxiliary support part to form a rotating pair; the rear auxiliary support part slides The lower end shaft of the block shaft cooperates with the rear folding support frame to form a rotating pair; the No. 4 long axis cooperates with the rear folding support frame to form a rotating pair. 8. The lower limb exoskeleton robot according to claim 7, characterized in that an electromagnetic chuck is fixed on the upper end of the second long axis; when energized, the electromagnetic chuck and the L-shaped slider attract each other through magnetic force to overcome the pulling force of the tension spring, so that the L The sliding block moves away from the auxiliary foot support support, causing the rear folding support frame and the side folding support frame to be retracted. 9. The lower limb exoskeleton robot according to claim 7, characterized in that the rear folding support frame includes a rear support link No. 1, a rear support link No. 2, a rear support link No. 3, a rear support link No. 3, and a rear support link No. 2. The front supports the No. 4 connecting rod, the rear supports the No. 5 connecting rod, the rear supports the No. 6 connecting rod and the rear support shaft; the side folding support frame includes the side supporting the No. 1 connecting rod and the side supporting the No. 2 connecting rod. , side support connecting rod No. 3, side support connecting rod No. 4, side support connecting rod No. 5, side support connecting rod No. 6, side support connecting rod No. 7, side support connecting rod No. 8 and side support partial support shaft; The No. 1 long axis cooperates with the upper end hole of the side supporting the No. 1 connecting rod and the upper end hole of the side supporting the No. 2 connecting rod to form a rotating pair; the lower end hole of the side supporting the No. 1 connecting rod and the side supporting the No. 4 connecting rod The upper end hole of the side supports the No. 2 connecting rod to form a rotating pair; the lower end hole of the side support connecting rod No. 2 cooperates with the upper end hole of the side supporting connecting rod No. 3 to form a rotating pair; the lower end shaft of the slider shaft of the side auxiliary support part is respectively connected with the side support The middle end hole of the No. 4 connecting rod and the middle end hole of the side support No. 3 connecting rod cooperate to form a rotating pair; the lower end hole of the side support No. 4 connecting rod cooperates with the upper end hole of the side support No. 5 connecting rod to form a rotating pair. ; The lower end hole of the side support connecting rod No. 3 cooperates with the upper end hole of the side support connecting rod No. 6 to form a rotating pair; the middle end hole of the side support connecting rod No. 5 and the middle end hole of the side support connecting rod No. 6 The lower end hole of the side supporting the No. 5 connecting rod cooperates with the upper end hole of the side supporting the No. 8 connecting rod to form a rotating pair; the lower end hole of the side supporting the No. 6 connecting rod cooperates with the side supporting the No. 7 connecting rod. The upper end holes cooperate to form a rotating pair; the shaft end of the side support shaft cooperates with the lower end of the side supporting connecting rod No. 8 and the lower end hole of the side supporting connecting rod No. 7 to form a rotating pair; the long axis No. 4 is connected with the rear part respectively. The upper end hole supporting the No. 1 connecting rod and the upper end hole supporting the No. 2 connecting rod at the rear cooperate to form a rotating pair; the lower end hole supporting the No. 1 connecting rod at the rear cooperates with the upper end hole supporting the No. 3 connecting rod at the rear to form a rotating pair; The lower end hole of the rear support connecting rod No. 2 cooperates with the upper end hole of the rear support connecting rod No. 4 to form a rotating pair; the lower end shaft of the slider shaft of the rear auxiliary support part is respectively connected with the middle end hole of the rear support connecting rod No. 3. It cooperates with the middle end hole of the rear support link No. 4 to form a rotating pair respectively; the lower end hole of the rear support link No. 3 cooperates with the upper end hole of the rear support link No. 6 to form a rotating pair; the rear support link No. 4 The lower end hole of the rod cooperates with the upper end hole of the rear support connecting rod No. 5 to form a rotating pair; the shaft end of the rear support shaft is respectively connected with the lower end hole of the rear support connecting rod No. 6 and the lower end of the rear support connecting rod No. 5. The holes cooperate to form a rotating pair.