CN116673937B

CN116673937B - Integral type power-assisted exoskeleton device and power-assisted method

Info

Publication number: CN116673937B
Application number: CN202310880217.5A
Authority: CN
Inventors: 宋智功; 黄嘉昕; 沈健
Original assignee: Jiangnan University
Current assignee: Jiangnan University
Priority date: 2023-07-18
Filing date: 2023-07-18
Publication date: 2025-08-19
Anticipated expiration: 2043-07-18
Also published as: CN116673937A

Abstract

An integral type power-assisted exoskeleton device and a power-assisted method are provided, wherein a shoulder fixing frame of a shoulder joint assembly is used for realizing free movement of an upper limb exoskeleton through a ball head connecting piece, a forearm support piece of the upper limb exoskeleton is hinged with a thigh support piece and used for driving the forearm support piece to be fixed on the thigh support piece relative to an upper limb cylinder swinging with the thigh support piece, a knee joint rotating shaft is rotatably arranged at the lower end of a thigh plate and used for assisting in hinging one end of a piston cylinder assembly with an increased angle between the thigh plate and the shank plate with the big push plate, the other end of the piston cylinder assembly is hinged with a cantilever rocker on the outer peripheral surface of the knee joint rotating shaft, one end of a connecting plate of a foot exoskeleton is fixedly connected with the shank plate of the lower limb exoskeleton, the other end of the connecting plate is connected with a sole sleeve assembly, energy is stored for assisting walking when a foot structure of a human body is subjected to plantarflexion movement through a passive power-assisted part, and a power-assisted function of the exoskeleton is realized on the basis of reducing system cost by adopting a least active power-assisted mode, so that a power-assisted effect is better.

Description

Integral type power-assisted exoskeleton device and power-assisted method

Technical Field

The invention relates to the technical field of power-assisted exoskeleton, in particular to an integral power-assisted exoskeleton device and a power-assisted method.

Background

The prior exoskeleton is mainly applied to the fields of industry, medical rehabilitation (for the elderly, disabled and the like), exercises and the like, and in the field of wearable exoskeleton robots, the utilization rate of the robots is enabled to achieve an extremely high level, because the progress completely meets the requirements of human body structures. Exoskeleton technology is very likely to thoroughly change the life style of humans, and these robots will become part of daily work culture in the future, they will greatly help in economic development and bring new employment opportunities, and are particularly important in the large environment of the current economic market.

Most of active driving of the existing integral type power-assisted exoskeleton is finished by adopting a motor or hydraulic mode, so that the manufacturing cost is high, the assembly mode is complex, the number of power sources is large, the system cost is high, the wide application of the integral type exoskeleton is affected, meanwhile, the combined effect of active and passive power assistance is poor, and the use experience of a user is affected.

Disclosure of Invention

The application aims at the defects in the prior art, and provides an integral power-assisted exoskeleton device and a power-assisted method, so that the power-assisted function of the exoskeleton is realized on the basis of reducing the system cost by adopting a least active power-assisted mode under the condition of meeting the power-assisted requirement, and the power-assisted effect is better.

The technical scheme adopted by the invention is as follows:

An integral power-assisted exoskeleton device comprises a back exoskeleton, an upper limb exoskeleton, a lower limb exoskeleton and a foot exoskeleton,

The back exoskeleton comprises a rear cross beam, two support rod assemblies are arranged on the rear cross beam, the two support rod assemblies are symmetrically arranged relative to a central line of the back exoskeleton in the vertical direction, the back exoskeleton comprises a spine back plate assembly, shoulder joint assemblies are respectively arranged on two sides of the upper part of the spine back plate assembly, the middle part of the spine back plate assembly is simultaneously connected with the upper ends of the two support rod assemblies, and the spine back plate assembly is fixed on the back of a human body needing assistance through a binding belt;

the shoulder joint assembly comprises a shoulder fixing frame connected with the back plate assembly, wherein the shoulder fixing frame is provided with a shoulder joint L-shaped plate through a ball joint connecting piece, and the lower end of the shoulder joint L-shaped plate is provided with an upper limb swinging shaft;

The upper limb exoskeleton comprises a forearm support piece and a big arm support piece, wherein the outer side of the upper end of the big arm support piece is hinged with the upper limb swinging shaft, one end of the forearm support piece is hinged with the lower end of the big arm support piece, the other end of the forearm support piece is provided with a wrist ring matched with the wrist of the human body, the outer side of the big arm support piece is fixedly provided with an upper limb cylinder, the output end of the upper limb cylinder is in transmission connection with the forearm support piece, and the upper limb cylinder is used for driving the forearm support piece to swing relative to the big arm support piece so as to reduce the included angle of the forearm support piece relative to the big arm support piece;

The number of the lower limb ectoskeletons is two, and the lower limb ectoskeletons are matched with the lower limb of the human body, and the single lower limb ectoskeleton has the structure that the single lower limb ectoskeleton comprises a thigh plate, a shank plate and a piston cylinder assembly, and further comprises a hip joint fixing shaft which is rotationally connected with the upper end of the thigh plate, wherein the hip joint fixing shaft is connected with the horizontal end part of the rear cross beam, the lower end of the thigh plate is rotationally provided with a knee joint rotating shaft, one end of the piston cylinder assembly is hinged with the thigh plate, the other end of the piston cylinder assembly is hinged with a cantilever rocker on the outer peripheral surface of the knee joint rotating shaft, the piston cylinder assembly is used for assisting in increasing the angle between the thigh plate and the shank plate, and the outer peripheral surface of the knee joint rotating shaft is rotationally provided with the shank plate through a round rod;

The number of the foot exoskeleton is two, the foot exoskeleton is matched with the foot structure of the human body, the structure of a single foot exoskeleton comprises a connecting plate, one end of the connecting plate is an upper connecting part which is detachably and fixedly connected with a lower leg plate, the other end of the connecting plate is a lower hinge part, the lower hinge part is hinged with a sole sleeve component, the sole sleeve component is matched with the foot of the human body, the rear part of the sole sleeve component is connected with the lower part of the connecting plate through a passive power assisting component, and the passive power assisting component stores energy for assisting walking when the foot structure of the human body performs plantarflexion.

The further technical scheme is as follows:

The structure of the single support rod assembly comprises an upper support rod, a first arc-shaped connecting rod and a second arc-shaped connecting rod, wherein the upper ends of the first arc-shaped connecting rod and the second arc-shaped connecting rod are hinged with the lower end of the upper support rod after being hinged, and the upper end of the upper support rod is hinged with the middle part of the back plate assembly;

The rear cross beam is of a U-shaped bending structure, the end part of the rear cross beam faces towards the bending part of the human body, the inner side of the bending part is hinged to the lower end of the first arc-shaped connecting rod, the outer side of the rear cross beam is hinged to the lower end of the second arc-shaped connecting rod, the first arc-shaped connecting rod and the second arc-shaped connecting rod are arranged in a herringbone mode, the bending directions of the first arc-shaped connecting rod and the second arc-shaped connecting rod deviate from each other, and the lower end of the second arc-shaped connecting rod is connected with the middle of the length direction of the rear cross beam.

The middle part of the length direction of the rear cross beam is provided with a plurality of adjusting holes, the plurality of adjusting holes are distributed along the length direction of the rear cross beam, and the lower end of the second arc-shaped connecting rod is hinged with a single adjusting hole.

Shoulder gas spring and shoulder connecting rod are installed to the upper portion of back board subassembly, shoulder connecting rod and shoulder gas spring's length direction are unanimous, shoulder gas spring is located the top of shoulder connecting rod, shoulder gas spring's one end with back board subassembly fixed connection, shoulder gas spring's the other end with the shoulder mount articulates, shoulder connecting rod's one end with the shoulder mount articulates.

The elbow joint rotating disc is provided with a rotating disc hinge part at the outer side, the rotating disc hinge part deviates from the rotating shaft center of the elbow joint rotating disc, one end of the elbow joint connecting rod is hinged with the rotating disc hinge part, the other end of the elbow joint connecting rod is hinged with the output end of the upper limb cylinder,

The elbow joint fixing plate is fixedly connected with the outer side of the forearm support piece and is in transmission connection with the elbow joint rotary table, the rotation axis of the elbow joint rotary table is collinear with the rotation axis of the joint of the forearm support piece and the forearm support piece, and the inner side of the joint of the forearm support piece and the forearm support piece is hinged through a damping rotation device.

The piston cylinder assembly is a cylinder or a gas spring and comprises a cylinder body and a piston rod which performs piston movement relative to the cylinder body, and when the included angle between the thigh plate and the shank plate is ninety degrees, the piston rod completely enters the cylinder body.

The thigh plate is two and parallel to each other, and two thigh plates are located the rotation axis direction both ends of hip joint fixed axle respectively, and simultaneously with hip joint fixed axle and knee joint axis of rotation cooperation are provided with a plurality of hole structures that adopt topological optimization technical design on the thigh plate.

The structure of the sole sleeve component comprises a bottom plate, a group of supporting plates are respectively arranged on two sides of the bottom plate, each single group of supporting plates comprises a front supporting plate and a rear supporting plate, the lower ends of the front supporting plate and the rear supporting plate are connected with the bottom plate, and the upper ends of the front supporting plate and the rear supporting plate are simultaneously hinged with the lower hinge part;

The passive power assisting component has the structure that the passive power assisting component comprises a swinging piece, the swinging piece comprises a swinging substrate, a rotating shaft is arranged on the swinging substrate, the rotating shaft is rotationally connected with the lower part of the connecting plate, the passive power assisting component further comprises a movable part and a limiting part which are arranged on the swinging substrate, the limiting part is provided with an arc-shaped through hole, the arc shape of the arc-shaped through hole is concentric with the rotating shaft, the arc-shaped through hole is in sliding fit with a limiting shaft arranged on the connecting plate, the limiting shaft is positioned between the lower hinge part and the rotating shaft,

The movable part is arranged at the rear part of the rear supporting plate, and is connected with the rear supporting plate through an independent suspension assembly.

An ankle joint supporting plate is arranged on the connecting plate and is matched with the rear part of the shank of the human body, a roller is arranged right behind the ankle joint supporting plate through a rotating shaft, the roller is connected with the rotating shaft through a tension spring,

The novel shoe sole cover comprises a sole cover component, and is characterized by further comprising a bowden wire, one end of the bowden wire is fixedly connected with the right rear part of the upper part of the sole cover component, and the other end of the bowden wire is wound on the roller.

The inner ring of the wrist ring is provided with a wrist pressure sensor, the wrist pressure sensor is used for sensing the pressure applied to the wrist ring by the wrist of the human body, a controller and an air pump are arranged at the rear part of the back plate assembly, the controller is used for driving and controlling the upper limb air cylinder, the air pump is connected with the upper limb air cylinder through an air pipe, and an air cylinder reversing valve is arranged on the air pipe;

And (3) lifting a heavy object:

When the pressure detection value of the wrist pressure sensor is smaller than the set low pressure threshold, the upper limb air cylinder is in a gas release state, so that the forearm support piece and the big arm support piece swing relatively freely,

When the human body lifts the heavy object with both hands, when the pressure detection value of the wrist pressure sensor is larger than or equal to the pressure critical value of the starting upper limb air cylinder, the output end of the upper limb air cylinder stretches out after the air cylinder reversing valve acts to drive the forearm support member to swing upwards relative to the big arm support member, so as to reduce the angle between the forearm support member and the big arm support member and lift the heavy object,

When a weight is put down, the wrist of the human body is pressed down, and when the pressure detection value of the wrist pressure sensor is smaller than a set low pressure threshold value, the cylinder reversing valve acts to enable the upper limb cylinder to be in a gas leakage state;

During the walking process:

When the ankle joint of the human body is in dorsiflexion movement, the swinging piece swings to the front of the foot structure of the human body, the spring of the independent suspension assembly is in a natural extension state,

When the ankle joint of the foot of the human body is in plantar flexion, the swinging piece swings to the rear of the foot structure of the human body, and the springs of the independent suspension assemblies are in a compressed state.

The beneficial effects of the invention are as follows:

The invention has compact and reasonable structure and convenient operation, and adopts the modularized design of four parts of structures of the back exoskeleton, the upper limb exoskeleton, the lower limb exoskeleton and the foot exoskeleton, the active power assisting structure is arranged on the upper limb exoskeleton, the power assisting structure is arranged on the lower limb exoskeleton, the passive power assisting structure is arranged on the foot exoskeleton, and the movable degree of freedom of each joint is combined for design, so that the minimum power assisting structure is adopted under the condition of meeting the power assisting requirement, the joint structure with proper degree of freedom is adopted, the power assisting function of the exoskeleton is realized on the basis of reducing the system cost, and the power assisting effect is better.

Meanwhile, the invention has the following advantages:

(1) The first arc connecting rod and the second arc connecting rod are both arranged in a herringbone manner, so that the supporting effect of the supporting rod assembly is better and stable, meanwhile, the bending directions of the first arc connecting rod and the second arc connecting rod deviate from each other, so that the supporting rod assembly has a certain vertical buffer effect, and the rigid back plate assembly is connected with the lower limb exoskeleton through the elastic supporting rod assembly and the rear cross beam, so that the experience of a human body in the process of wearing the exoskeleton is better.

(2) The shoulder gas springs are fixedly arranged on the back plate assembly and are hinged with the shoulder connecting rods, so that the shoulder gas springs and the shoulder connecting rods are hinged with the shoulder fixing frame at the same time, the shoulder joint assembly of the back exoskeleton is improved in flexibility while the upper limb exoskeleton is suspended, and the movable range of the upper limb exoskeleton is enlarged.

(3) The fixed shaft rotation of the forearm support piece is realized through the linear motion of the movable end of the upper limb cylinder which is fixedly arranged, a parallel connection mode of the damping rotating device and the upper limb cylinder is adopted, certain buffering assistance and damping effect are realized, and the rocker slider mechanism and the damping rotating device are in parallel connection coupling, so that the motion of the elbow joint is more flexible, and the influence caused by vibration can be effectively avoided.

(4) The knee joint adopts a swing type scheme of a piston cylinder assembly, the dead point characteristic matching of the human body sitting posture is realized by utilizing the limit position characteristic of a piston rod of the piston cylinder assembly, the direct driving effect is realized on the knee joint, and the knee joint has better power assisting and buffering effects on lifting and squatting.

(5) The foot exoskeleton adopts a unilateral independent suspension scheme, utilizes a swinging piece with a swinging arc-shaped through hole structure, and is matched with an independent suspension component to realize the effects of energy storage, shock absorption and flexible rotation, and is adapted to a single degree of freedom of an ankle joint, so that the adaptation of suspension structure and motion is realized in dorsiflexion and plantarflexion movements of the ankle.

(6) The foot exoskeleton uses a passive mode of elastic suspension to enable the exoskeleton to rotate an ankle joint when a human body moves, and can be flexibly driven by the roller by combining with an active bowden cable to achieve a rigid-flexible coupling effect, a set of good adaptation design scheme is provided for a rotating mechanical structure at the ankle joint of the exoskeleton, and certain movement shock absorption and energy storage measures are achieved.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic structural view (another view) of the present invention.

Fig. 3 is a schematic structural view of the back exoskeleton of the present invention.

Fig. 4 is a schematic view of the structure of the back exoskeleton of the present invention (another view angle).

Fig. 5 is a cross-sectional view (top view) of the back exoskeleton of the present invention.

Fig. 6 is a partial elevation view of the back exoskeleton of the present invention (with the shoulder gas springs in an extended state).

Fig. 7 is a partial elevation view of the back exoskeleton of the present invention (with the shoulder gas springs in a contracted state).

Fig. 8 is a schematic structural view of an upper limb exoskeleton of the present invention.

Fig. 9 is a schematic structural view of the upper limb exoskeleton of the present invention (another view angle).

Fig. 10 is an exploded view of the upper extremity exoskeleton of the present invention.

Fig. 11 is a schematic diagram showing the motion state of the upper limb exoskeleton of the present invention.

Fig. 12 is a schematic structural view of the lower extremity exoskeleton of the present invention.

Fig. 13 is an exploded view of the lower extremity exoskeleton of the present invention.

Fig. 14 is a schematic view showing the action state of the exoskeleton of the lower limb according to the present invention.

FIG. 15 is a schematic view of the structure of the foot exoskeleton of the present invention.

FIG. 16 is a schematic view of the foot exoskeleton of the present invention (another view).

Fig. 17 is a schematic view of the state of the exoskeleton of the present invention (plantar Qu Shi).

Fig. 18 is a schematic view of the state of the foot exoskeleton (dorsiflexion) according to the present invention.

Wherein:

1. A dorsal exoskeleton;

11. the rear cross beam, 111, the adjusting hole, 112, the bending part;

12. a support rod assembly; 121, a first arc-shaped connecting rod, 122, a second arc-shaped connecting rod, 123, an upper supporting rod;

13. A back plate assembly, 131, a back plate, 132, a waist bending plate, 133, a clasp;

14. shoulder joint components, 141, shoulder connecting rods, 142, shoulder fixing frames, 143, upper limb swinging shafts, 144, shoulder joint L-shaped plates, 145, extension rods, 146, ball joint connectors, 147 and shoulder gas springs;

15. an H-shaped plate;

2. An upper limb exoskeleton;

21. A large arm support; 211, a big arm supporting plate, 212, a big arm outer side plate, 213, a big arm inner side plate;

22. the arm support piece, 221, an arm support plate, 222, an arm outer plate, 223, an arm inner plate;

23. wrist ring, 24, damping rotation device, 25, upper limb cylinder, 26, elbow connecting rod, 27, elbow joint turntable, 271, turntable hinge part, 28, elbow joint fixing disk, 29, long screw;

3. lower limb exoskeleton;

31. thigh plate, 3101, knee joint pressure plate, 32, hip joint fixing shaft, 33, fish eye bearing, 34, piston cylinder assembly, 35, knee joint rotation shaft, 3501, linkage shaft, 36, bearing, 37, shank plate, 38, round bar, 39, cantilever rocker;

4. foot exoskeleton;

41. sole cover assembly 411, forefoot plate 412, sole plate 413, front support plate 414, rear support plate;

42. Passive power assisting component 421, lower support rod 422, independent suspension component 423, limiting shaft 424, swinging piece 4241, limiting part 4242, rotating shaft 4243 and movable part;

43. Connection plate 431, lower hinge part 432, upper connection part 44, ankle support plate 45, roller 46, bowden cable.

Detailed Description

The following describes specific embodiments of the present invention with reference to the drawings.

Embodiment one:

As shown in fig. 1 to 17, the integrated power assisting exoskeleton device of the present embodiment includes a back exoskeleton 1, an upper limb exoskeleton 2, a lower limb exoskeleton 3, and a foot exoskeleton 4.

The back exoskeleton 1 has the structure that the back exoskeleton 1 comprises a rear cross beam 11, two support rod assemblies 12 are arranged on the rear cross beam 11, the two support rod assemblies 12 are symmetrically arranged about a central line of the back exoskeleton 1 in the vertical direction, the back exoskeleton further comprises a back plate assembly 13, shoulder joint assemblies 14 are respectively arranged on two sides of the upper portion of the back plate assembly 13, the middle portion of the back plate assembly 13 is simultaneously connected with the upper ends of the two support rod assemblies 12, and the back plate assembly 13 is fixed on the back of a human body needing assistance through a binding belt.

Specifically, the back plate assembly 13 comprises a back plate 131 arranged along the vertical direction, a plurality of holes are formed in the back plate 131, the holes are used for configuring peripheral devices (such as a suspension backpack, a power source device and the like), a plurality of buckles 133 are arranged on the upper portion and two sides of the back plate 131, a waist bending plate 132 is fixed on the lower portion of the back plate 131, buckles 133 are also arranged on the left side and the right side of the waist bending plate 132, the buckles 133 are used for penetrating through binding belts, cross constraint of the binding belts and the human trunk is achieved, the user can conveniently wear the back plate assembly, an H-shaped plate 15 is mounted on the back plate 131, the H-shaped plate 15 is horizontally arranged, two ends of the H-shaped plate 15 are respectively used for mounting a shoulder joint assembly 14, and effective support of the back and upper limb exoskeleton 2 is achieved in a mode of connecting the back rear cross beam 11 with the support rod assembly 12 and the back plate assembly 13 in series.

The shoulder joint assembly 14 includes a shoulder mount 142 connected to the back plate assembly 13, a shoulder L-shaped plate 144 is mounted to the shoulder mount 142 through a ball joint connector 146, and an upper limb swing shaft 143 is mounted to a lower end of the shoulder L-shaped plate 144.

The number of the upper limb exoskeleton 2 is two, the upper limb exoskeleton 2 is matched with the upper limb of a human body, the single upper limb exoskeleton 2 comprises a forearm support piece 22 and a big arm support piece 21, the outer side of the upper end of the big arm support piece 21 is hinged with an upper limb swinging shaft 143, one end of the forearm support piece 22 is hinged with the lower end of the big arm support piece 21, the other end of the forearm support piece 22 is provided with a wrist ring 23 matched with the wrist of the human body, an upper limb air cylinder 25 is fixedly arranged on the outer side of the big arm support piece 21, the output end of the upper limb air cylinder 25 is in transmission connection with the forearm support piece 22, and the upper limb air cylinder 25 is used for driving the forearm support piece 22 to swing relative to the big arm support piece 21, so that the included angle between the forearm support piece 22 and the big arm support piece 21 is reduced.

Specifically, the ball joint connecting piece 146 can swing freely in multiple directions, the ball joint connecting piece 146 is an outsourcing piece, a universal ball joint D-shaped head can be selected, the shoulder fixing frame 142 is connected with the end of the H-shaped plate 15 arranged on the back plate assembly 13, the shoulder fixing frame 142 plays a role in suspending the upper limb exoskeleton 2, the ball joint connecting piece 146 realizes free swinging of shoulder joints, the shoulder joint L-shaped plate 144 is in an inverted L shape matched with the shoulder, a shoulder joint pressure plate matched with the large arm support piece 21 is arranged on the outer side of the upper limb swinging shaft 143, and the axial limiting function is achieved when the large arm support piece 21 rotates relative to the upper limb swinging shaft 143.

Specifically, the arm support 21 includes an arm outer plate 212 and an arm inner plate 213 which are positioned on the outer side of the arm and are worn on the upper arm of the human body, the arm outer plate 212 and the arm inner plate 213 which are positioned on the inner side of the arm are connected through an arm support plate 211, the arm support plate 211 and the arm rear side are matched, the arm support 21 and the arm are relatively fixed through a binding band, the arm support 22 includes an arm outer plate 222 and an arm inner plate 223 which are positioned on the outer side of the arm and are positioned on the inner side of the arm after being worn on the upper arm of the human body, the arm outer plate 222 and the arm inner plate 223 are connected through an arm support plate 221, the arm support plate 221 and the arm rear side are matched, the arm support is relatively fixed through the binding band, the upper end of the arm outer plate 212 is hinged with an upper arm swinging shaft 143, the lower end of the arm outer plate 212 is hinged with one end of the arm outer plate 222, the lower end of the arm inner plate 213 is hinged with one end of the arm inner plate 223, and the arm inner plate 223 is fixedly connected with the wrist part 23.

The upper limb air cylinder 25 is used for driving the forearm support member 22 to swing relative to the large arm support member 21, and then the forearm support member 22 is reduced relative to the included angle between the forearm support member and the large arm support member 21, so that the upper limb air cylinder has a boosting effect when a human body lifts a heavy object.

The shoulder fixing frames 142 arranged on two sides of the upper part of the back exoskeleton 1 in the above structure suspend the upper limb exoskeleton 2 through the ball joint connecting pieces 146, the hip joint fixing shafts 32 of the lower limb exoskeleton 3 are arranged on the bending parts 112 at two ends of the rear cross beam 11 at the lower part of the back exoskeleton 1, in addition, the fish eye bearing 33 can be connected with the rotating shafts arranged on the bending parts 112 through the fish eye bearing 33, the fish eye bearing 33 can swing in a vertical plane, and simultaneously, the fish eye bearing 33 can swing slightly in the horizontal direction, so that the hip joint fixing shafts 32 can conveniently generate tiny hip swing, the upper limb exoskeleton 2, the lower limb exoskeleton 3 and the back exoskeleton 1 are connected, and the two support rod assemblies 12 realize effective support of the lower limb exoskeleton 3 on the upper limb exoskeleton 2.

The leg of the human body has limited size, and it is difficult to design the lower limb exoskeleton structure with multiple degrees of freedom as much as possible in a limited space, which puts high demands on the size of the transmission device and the transmission mechanism. The lower limb exoskeleton 3 is mostly connected with the lower limb of the human body in a binding manner, deformation caused by contraction and expansion of leg muscles can affect the positioning accuracy of the exoskeleton robot, the design of the lower limb mechanical structure and the joints of the embodiment is improved, the driving piece adopts a piston cylinder assembly 34, the position of the piston cylinder assembly 34 is located on the rear side of the whole lower limb exoskeleton 3, the structural design of the relevant joints provides as much freedom as possible, and a pleasant wearable integral type assistance carrying exoskeleton device is designed, and the lower limb exoskeleton 3 has the following structure.

The number of the lower limb exoskeleton 3 is two, the lower limb exoskeleton 3 is matched with the lower limb of a human body, the single lower limb exoskeleton 3 is structurally characterized by comprising a thigh plate 31, a shank plate 37 and a piston cylinder assembly 34, and further comprising a hip joint fixing shaft 32 rotatably connected with the upper end of the thigh plate 31, wherein the hip joint fixing shaft 32 is connected with the horizontal end of the rear cross beam 11, a knee joint rotating shaft 35 is rotatably arranged at the lower end of the thigh plate 31, one end of the piston cylinder assembly 34 is hinged with the thigh plate 31, the other end of the piston cylinder assembly 34 is hinged with a cantilever rocker 39 on the outer peripheral surface of the knee joint rotating shaft 35, the piston cylinder assembly 34 is used for assisting in increasing the angle between the thigh plate 31 and the shank plate 37, and the outer peripheral surface of the knee joint rotating shaft 35 is rotatably provided with the shank plate 37 through a round rod 38.

Specifically, the lower limb exoskeleton 3 is located on the outer side of the lower limb of the human body and is fixed relative to the lower limb through a binding belt, the lower leg plate 37 swings along with the knee joint rotation shaft 35, a certain degree of rotation freedom is provided for the foot exoskeleton 4 mounted on the lower leg plate 37, a hole groove is formed in the lower leg plate 37 and is used for adapting to wearers with different heights, the states between the thigh plate 31 and the lower leg plate 37 are approximately divided into three states, namely a standing state, a vertical state and a squatting and bending state, and the piston of the piston cylinder assembly 34 stretches out due to the fact that the weight of the human body or the weight of a carried weight needs to be overcome in the transition process from squatting and bending to standing states, particularly when the vertical state is changed to squatting and bending states, the angle between the thigh plate 31 and the lower leg plate 37 is increased, and the assisting lower limb exoskeleton 3 is in the standing state.

Specifically, the piston cylinder assembly 34 can be a cylinder or a gas spring, namely can be active or passive power assistance, the piston cylinder assembly 34 comprises a cylinder body and a piston rod which moves relative to the cylinder body, the hinged position mounting position of the cylinder body forms a triangle with the centers of the cantilever rocker 39 and the knee joint rotating shaft 35, when the piston rod stretches out when the vertical state changes to the standing state, the driving force in the cylinder body is converted into torque for driving the thigh plate 31 to swing relative to the knee joint rotating shaft 35, the power assistance is assisted on a human body to stand, a direct driving effect is realized on the knee joint, and meanwhile, the power assistance function is also realized in the walking process.

The number of the foot exoskeleton 4 is two and is matched with the foot structure of a human body, the structure of the single foot exoskeleton 4 is that the single foot exoskeleton 4 comprises a connecting plate 43, one end of the connecting plate 43 is an upper connecting part 432 which is detachably and fixedly connected with a shank plate 37, the other end of the connecting plate 43 is a lower hinging part 431, the lower hinging part 431 is hinged with a sole sleeve component 41, the sole sleeve component 41 is matched with the foot of the human body, the rear part of the sole sleeve component 41 is connected with the lower part of the connecting plate 43 through a passive power assisting component 42, and the passive power assisting component 42 stores energy for assisting walking when the foot structure of the human body performs plantarflexion movement.

The whole frame of the integral type power-assisted exoskeleton belongs to a rigid supporting structure, wherein a passive auxiliary support is adopted at a shoulder joint of an upper limb, active pneumatic power assistance (air cylinder fixing type) is adopted at an elbow joint, passive auxiliary support is adopted at a hip joint of a lower limb, active or passive power assistance (air cylinder or air spring) is adopted at a knee joint, a passive suspension buffer power assistance structure is adopted at an ankle joint, a rod piece support is adopted at the back, and a power source knapsack is placed by means of a hole structure so as to realize air cylinder driving. The freedom degree in the moving process accords with the human engineering requirement, the shoulder joint ball joint connecting piece 146 realizes the free rotation of the shoulder joint, the elbow joint realizes the bending of a single degree of freedom by utilizing the principle of a rocker sliding block mechanism, the whole lower limb mechanical mechanism of the lower limb exoskeleton 3 combined with the foot exoskeleton 4 has five degrees of freedom, and the lower limb mechanical mechanism comprises a tiny horizontal hip swing, a back-and-forth swing structure at the hip joint, the knee joint and the ankle joint, and a rotation structure of the lower leg relative to the knee joint, so that the adaptation of the human body lower part exercise function is realized.

Each part is designed in a modularized way, so that the portable assisting exoskeleton device is convenient to wear, convenient to design, reliable to assemble, high in design efficiency, high in applicability, convenient to maintain, simple and convenient to split in system structure, low in cost and convenient to popularize, and the portable assisting exoskeleton device is manufactured.

When the integral type power-assisted exoskeleton is worn, the lower limb firstly steps on the sole sleeve component 41, the upper limb of the human body stretches into the upper limb exoskeleton 2, the wrist of the human body stretches to the wrist ring 23, and the lower limb exoskeleton 3 and the sole sleeve component 41 are restrained by the binding bands on the back plate component 13, so that the exoskeleton can be worn.

In the movement process, a sensor is required to be equipped to control the movement of the exoskeleton, the movement intention of a human body is judged to realize a power-assisted effect, active power assistance realizes the movement of a cylinder through a pneumatic pipeline, a pneumatic reversing valve and a pneumatic pump, and the pneumatic pump can be arranged at the back plate assembly 13 and is combined with active power assistance and passive power assistance to realize integral power assistance carrying. The whole scheme realizes the function of assisting walking, and can also be used in working places such as military use or body building, carrying and the like.

Through back ectoskeleton 1, upper limbs ectoskeleton 2, low limbs ectoskeleton 3 and foot ectoskeleton 4 four-part structure modularization design to be provided with active helping hand structure on upper limbs ectoskeleton 2, set up helping hand structure on low limbs ectoskeleton 3, set up passive helping hand structure on foot ectoskeleton 4, combine the activity degree of freedom design of each joint, thereby adopt minimum helping hand structure under the circumstances that satisfies the helping hand demand, have the joint structure of suitable degree of freedom, on the basis of reducing system cost, realize the helping hand function of ectoskeleton, make helping hand effect better.

Further, the lower structure of the lower limb exoskeleton 3 is optimized:

As shown in fig. 3-4, the single support rod assembly 12 has a structure including an upper support rod 123, a first arc-shaped connecting rod 121 and a second arc-shaped connecting rod 122, wherein the upper ends of the first arc-shaped connecting rod 121 and the second arc-shaped connecting rod 122 are hinged with the lower end of the upper support rod 123 after being hinged, and the upper end of the upper support rod 123 is hinged with the middle part of the back plate assembly 13;

The rear cross beam 11 is of a U-shaped bending structure, the end part of the rear cross beam 11 is a bending part 112 facing the human body, the inner side of the bending part 112 is hinged to the lower end of the first arc-shaped connecting rod 121, the outer side of the rear cross beam 11 is hinged to the lower end of the second arc-shaped connecting rod 122, the first arc-shaped connecting rod 121 and the second arc-shaped connecting rod 122 are arranged in a herringbone manner, the bending directions of the first arc-shaped connecting rod 121 and the second arc-shaped connecting rod 122 deviate from each other, and the lower end of the second arc-shaped connecting rod 122 is connected with the middle part of the length direction of the rear cross beam 11.

The first arc connecting rod 121 and the second arc connecting rod 122 are both arranged in a herringbone manner, so that the supporting effect of the supporting rod assembly 12 is better and stable, meanwhile, the bending directions of the first arc connecting rod 121 and the second arc connecting rod 122 deviate from each other, so that the supporting rod assembly 12 has a certain vertical buffer effect, and the rigid back plate assembly 13 is connected with the lower limb exoskeleton 3 through the rear cross beam 11 through the elastic supporting rod assembly 12, so that the experience of a human body in the exoskeleton wearing process is better.

As shown in fig. 3 to 4, a plurality of adjusting holes 111 are provided in the middle of the rear cross member 11 in the length direction, the plurality of adjusting holes 111 are arranged along the length direction of the rear cross member 11, and the lower end of the second arc-shaped connecting rod 122 is hinged to a single adjusting hole 111.

The back cross beam 11 is provided with adjusting holes 111 which are convenient for people with different heights to adjust the adaptability, and meanwhile, the connecting part of the back plate 131 and the fixed waist bending plate 132 is also provided with adjusting holes in the height direction, the upper supporting rod 123 is specifically connected with the holes on the two sides of the back plate 131, and a plurality of holes are arranged on the back plate 131 along the height direction, so that the whole height of the back exoskeleton 1 can be conveniently adjusted according to different raised people.

Further, the upper structure of the lower limb exoskeleton 3 is optimized:

as shown in fig. 3 to 7, the shoulder gas spring 147 and the shoulder connecting rod 141 are installed at the upper portion of the back plate assembly 13, the length directions of the shoulder connecting rod 141 and the shoulder gas spring 147 are identical, the shoulder gas spring 147 is located above the shoulder connecting rod 141, one end of the shoulder gas spring 147 is fixedly connected with the back plate assembly 13, the other end of the shoulder gas spring 147 is hinged with the shoulder fixing frame 142, and one end of the shoulder connecting rod 141 is hinged with the shoulder fixing frame 142.

Specifically, the length directions of the shoulder connecting rod 141 and the shoulder gas spring 147 are consistent, namely, the shoulder connecting rod 141 and the shoulder gas spring 147 are both inclined upwards and face the shoulder direction of a human body, one end of the shoulder gas spring 147 is fixedly connected with the back plate assembly 13 to ensure that the shoulder fixing frame 142 is in a hanging state, further, a ball joint connecting piece 146 connected with the shoulder fixing frame 142 is in a hanging state, the whole shoulder fixing frame 142 is arranged in a vertical direction, the hinging part of the shoulder fixing frame 142 and the shoulder gas spring 147 is positioned above the hinging part of the shoulder fixing frame and the shoulder connecting rod 141, in addition, an extension rod 145 extending towards the front of the human body in the horizontal direction can be arranged at the upper end of the shoulder fixing frame 142, the ball joint connecting piece 146 is arranged at the front end of the extension rod 145, and the shoulder connecting rod 141 and the shoulder gas spring 147 can be connected with the back plate 131 through an H-shaped plate 15.

As shown in fig. 6, the shoulder gas spring 147 is in an extended state, and at this time, the shoulder fixing frame 142 is at the outermost position, as shown in fig. 7, when the arm of the human body is lifted to a large extent, the shoulder joint is driven by the shoulder muscle to approach the neck, and at this time, the shoulder gas spring 147 is in a contracted state, and the position of the shoulder fixing frame 142 is adjusted along with the movement of the shoulder joint. The shoulder gas spring 147 is passively assisted and can automatically reset after compression with an outsourcing piece similar to a spring, and plays a certain role in guiding and buffering.

The shoulder gas springs 147 are fixedly arranged on the spine and back plate assembly 13 and are hinged with the shoulder connecting rods 141, so that the shoulder gas springs and the shoulder connecting rods are simultaneously hinged with the shoulder fixing frames 142, the upper limb exoskeleton 2 is suspended, the flexibility of the shoulder joint assembly 14 of the back exoskeleton 1 is improved, and the moving range of the upper limb exoskeleton 2 is enlarged.

Further, the shock absorption design is carried out on the movable structure at the exoskeleton elbow joint:

As shown in fig. 8 to 11, the elbow joint turntable 27 and the elbow connecting rod 26 are further included, a turntable hinge part 271 is arranged on the outer side of the elbow joint turntable 27, the turntable hinge part 271 deviates from the rotation axis of the elbow joint turntable 27, one end of the elbow connecting rod 26 is hinged with the turntable hinge part 271, and the other end of the elbow connecting rod 26 is hinged with the output end of the upper limb air cylinder 25.

The elbow joint fixing plate 28 is fixedly connected with the outer side of the forearm support member 22 and is in transmission connection with the elbow joint rotating plate 27, the rotating axis of the elbow joint rotating plate 27 is collinear with the rotating axis of the joint of the forearm support member 22 and the forearm support member 21, and the inner side of the joint of the forearm support member 22 and the forearm support member 21 is hinged through the damping rotating device 24.

Specifically, the upper limb air cylinder 25 is fixed on the outer arm plate 212, the elbow joint fixing plate 28 is fixedly connected with the outer arm plate 222, the elbow joint fixing plate 28 is connected with the elbow joint rotary plate 27 by a key, long screws 29 are adopted to penetrate through the elbow joint fixing plate 28, the outer arm plate 222, the outer arm plate 212 and the elbow joint rotary plate 27 at the same time, then the elbow joint fixing plate 28 and the elbow joint rotary plate 27 are limited, clearance fit between the outer arm plate 212 and the outer arm plate 222 is realized by means of bolts and locknuts, and the damping rotary device 24 is an outsourcing piece, such as a random stop rod, and is respectively connected with the inner arm plate 223 and the inner arm plate 213 through two swinging rods.

Specifically, the elbow connecting rod 26 is hinged to the output end of the upper limb air cylinder 25, displacement of the output end of the upper limb air cylinder 25 is transmitted to the rotary table hinge part 271 through swinging of the elbow connecting rod 26, the position movement of the rotary table hinge part 271 is converted into rotation of the elbow joint rotary table 27, reliable rotation and movement range enhancement of the upper limb elbow joint are achieved, as shown in fig. 11, the extending power-assisted forearm support 22 of the output end of the upper limb air cylinder 25 is lifted from the c state to the b state and then to the a state, and further the human body is assisted to carry heavy objects. The limit position of the forearm support member 22 is limited by the stroke of the output end of the upper limb cylinder 25, so that the elbow joint movement range of the human body is matched and restrained, and the damage to the human body caused by the movement range exceeding the joint movement limit of the human body is prevented.

Specifically, the swinging rod of the damping rotation device 24 includes a fixed rod and a movable rod, and the damping rotation device 24 further includes a nylon baffle ring, a swivel, a cylindrical roller, a fixed pressure plate, an adjusting nut, and the like. The damping rotation device 24 has the working effect of being flexible and undamped when the elbow joint of the human body is bent, generating damping when the arm is straightened, and realizing the buffering and shock absorbing effects. The dampened rotation device 24 is coaxial with the axis of the elbow dial 27.

The fixed shaft rotation of the forearm support member 22 is realized through the linear motion of the movable end of the upper limb air cylinder 25 which is fixedly arranged, a certain buffering power assisting and damping effect is realized by adopting a parallel connection mode of the damping rotation device 24 and the upper limb air cylinder 25, and the elbow joint is more flexible in motion by virtue of parallel coupling of the rocker slider mechanism and the damping rotation device 24, so that the influence caused by vibration can be effectively avoided.

Further, the mounting structure and operation of the piston cylinder assembly 34 are optimized:

As shown in fig. 12-14, the piston cylinder assembly 34 is a cylinder or a gas spring, the piston cylinder assembly 34 comprises a cylinder body and a piston rod which performs piston movement relative to the cylinder body, when the included angle between the thigh plate 31 and the shank plate 37 is equal to ninety degrees, the piston rod completely enters the cylinder body, and the state is the e-part squatting or sitting state in fig. 14, and when the included angle between the thigh plate 31 and the shank plate 37 is smaller than ninety degrees or larger than ninety degrees, the piston rod partially or completely extends out of the cylinder body, such as the d-part standing state and the f-squatting state in fig. 14.

When the piston cylinder assembly 34 is a cylinder, specifically, the cylinder body of the piston cylinder assembly 34 is hinged with the thigh plate 31, the end of the piston rod of the piston cylinder assembly 34 is hinged with the cantilever rocker 39 on the outer peripheral surface of the knee joint rotating shaft 35, the lower part of the thigh plate 31 is provided with an angle sensor for detecting the angle change of the thigh plate 31 and the shank plate 37, and the end of the piston rod of the piston cylinder assembly 34 is provided with a pressure sensor for sensing the pressure change received at the knee joint. And the control gas circuit of the cylinder needs to be externally connected with a reversing valve, the compression and the extension of the cylinder are realized by feeding back the pressure value to the controller to realize the gas supply and the gas discharge of the reversing valve, and the telescopic action of the lower limb gas rod is realized by feeding back the micro rotation of the lower leg plate 37 driven by a human body, so that the assistance effect is realized for the knee joint.

When squatting down, the cylinder needs to have a buffering effect, and at the moment, the cylinder belongs to a contracted state, and the angle change between the thigh plate 31 and the shank plate 37 can be fed back to the controller to control the contraction speed of the cylinder.

When the electric motor is started, the power assisting effect is needed, at the moment, the air cylinder is in an extending state, the angle change between the thigh plate 31 and the shank plate 37 is fed back to the controller, and the extending speed of the air cylinder is controlled.

When the piston cylinder assembly 34 is a passive air spring, the user can quickly stand up after squatting by means of the rated force of the air spring, the initial position of the air spring is a standing posture of the user, when squatting, the user presses the air spring by the weight of the user, the knee joint is slowly rotated, squatting is achieved, after the squatting posture is changed into the standing posture, after the lower limb is slightly forced, the angle between the thigh plate 31 and the shank plate 37 is reset to a half squatting or sitting posture state in part e of fig. 14, and then the user can quickly stand up by resetting action through the pressure of the air spring.

In the two cases, when the thigh plate 31 and the shank plate 37 are in a vertical state, the piston rod of the air cylinder is equivalent to the limit position of compression, and is a dead point position of the lower limb exoskeleton 3, so that the human body can keep a half squat or sit at rest positions such as a chair and the like, and the piston rod is collinear with the cantilever rockers 39, and the position of the piston rod of the air cylinder when the human body stands up and the position of the piston rod of the air cylinder when the piston rod of the air cylinder stretches out of the limit position of the piston rod of the air cylinder when the human body stands down, thereby matching and restraining the joint movement range of the human body and preventing the movement range from exceeding the joint movement limit of the human body to cause injury to the human body.

The knee joint adopts a swinging scheme of the piston cylinder assembly 34, the dead point characteristic matching of the human body sitting posture is realized by utilizing the limit position characteristic of the piston rod of the piston cylinder assembly 34, the direct driving effect is realized on the knee joint, and the device has better assistance and buffering on lifting and squatting.

As shown in fig. 12 to 13, the thigh plate 31 is two in number and is disposed parallel to each other, the two thigh plates 31 are respectively located at two ends of the hip joint fixing shaft 32 in the rotation axis direction, and are simultaneously matched with the hip joint fixing shaft 32 and the knee joint rotation shaft 35, and a plurality of hole structures designed by adopting a topology optimization technology are provided on the thigh plate 31.

The fish eye bearing 33 is connected with the hip joint fixing shaft 32 at the hip joint, the hip joint part of the exoskeleton realizes lateral hip swing by virtue of the fish eye bearing 33, the upper ends of the two thigh plate pieces 31 realize synchronous rotation by key connection, and the thigh plate pieces 31 are limited at two sides of the hip joint fixing shaft 32 by the pressure plates at two sides. The cylinder body of the piston cylinder assembly 34 is hinged with the two thigh plates 31 at the same time, and bearings 36 are arranged on two sides of the knee joint rotating shaft 35, so that the rotating friction is reduced, the mechanical rotating efficiency of the joint can be improved, and the joint rotation is more flexible. In addition, holes are drilled on the side face of the knee joint rotating shaft 35, the knee joint pressure plate 3101 is fixedly connected through screws and gaskets, a linkage shaft 3501 fixedly arranged at the inner hole of the knee joint pressure plate 3101 is matched with the inner ring of the bearing 36, the outer ring of the bearing 36 is matched with the middle part of the knee joint rotating shaft 35, further the knee joint pressure plate 3101 is rotated relative to the knee joint rotating shaft 35 through the relative rotation of the outer ring of the inner ring of the bearing 36, the thigh plate 31 is driven to swing, the stability and the reliability of the knee joint rotating shaft 35 in rotation are guaranteed, and the mechanical rotation efficiency of the joint is improved.

Topology optimization is the process of optimizing the layout and structure of materials for a defined rule set by a designer within a given 3D geometric design space. The method aims at improving the performance of the part to the greatest extent by carrying out mathematical modeling and optimization on factors such as external force, load conditions, boundary conditions, constraint, material properties and the like in the design range. It can be said as a structural design method, a design means.

The thigh plate 31, its hole structure adopts topology optimization technique to realize the lightweight design, and the plate material selects aluminum alloy (2024-T3) to carry out finite element analysis, utilizes ANSYS software, and under the reasonable prerequisite of satisfying maximum displacement, minimum factor of safety, biggest Mi Saisi equivalent stress, realized the effect of quality reduction 25% on original solid veneer basis, its topological structure can see fig. 12, can effectively support the weight of upper limbs and back.

Further, the assistance structure of the foot exoskeleton is optimized:

15-18, the sole cover assembly 41 includes a bottom plate 412, a set of support plates are respectively provided at both sides of the bottom plate 412, and a single set of support plates includes a front support plate 413 and a rear support plate 414, both lower ends of which are connected with the bottom plate 412, and upper ends of the front support plate 413 and the rear support plate 414 are simultaneously hinged with a lower hinge portion 431;

the passive power assisting component 42 has a structure comprising a swinging member 424, the swinging member 424 comprises a swinging base plate, a rotating shaft 4242 is arranged on the swinging base plate, the rotating shaft 4242 is rotationally connected with the lower part of a connecting plate 43, the passive power assisting component further comprises a movable part 4243 and a limiting part 4241 which are arranged on the swinging base plate, the limiting part 4241 is provided with an arc through hole, the arc circle of the arc through hole is concentric with the rotating shaft 4242, the arc through hole is in sliding fit with a limiting shaft 423 arranged on the connecting plate 43, the limiting shaft 423 is positioned between a lower hinging part 431 and the rotating shaft 4242,

And a lower support bar 421 mounted on the rear support plate 414, wherein the end of the lower support bar 421 and the movable portion 4243 are located behind the rear support plate 414 and are connected by an independent suspension assembly 422.

Specifically, the independent suspension assembly 422 belongs to an outsourcing part, an HSP106004 shock absorber is selected, a foot front plate 411 is further arranged in front of the bottom plate 412, the foot front plate 411 is matched with the front end of a human foot, due to the guiding effect of an arc through hole, in dorsiflexion movement of the human ankle, the swinging part 424 swings forward of the human body when the spring of the independent suspension assembly 422 slightly receives tensile force, so that the state of the spring of the independent suspension assembly 422 is changed and is not pulled, the original length is kept, in plantar flexion movement of the human ankle, rotation adaptation of a suspension structure can be realized, the suspension spring is compressed in plantar flexion, the swinging part 424 swings to the rear of the human body until the limiting shaft 423 slides to the end of the arc through hole, and the limiting state is limited, the movement effect is shown in fig. 17 and 18, on the one hand, the movement interference of the suspension structure is not caused, in dorsiflexion movement is not stored, the dorsiflexion movement is smooth and saves more labor, the front support plate 413, the rear support plate 414 and the bottom plate 412 form a triangle stable structure, the structure can have stability, the structure of the human body, the whole weight is protected, the whole foot end is supported, the weight is supported, and the gravity is carried to the ground, and the gravity of the human body is assisted, and the effect is carried by the foot.

The single-side independent suspension scheme is adopted at the foot exoskeleton 4, the swinging piece 424 with a swinging arc-shaped through hole structure is utilized to realize the effects of energy storage, shock absorption and flexible rotation in cooperation with the independent suspension assembly 422, the single degree of freedom of the ankle joint is adapted, and the adaptation of suspension structure and motion is realized in dorsiflexion and plantarflexion motions of the ankle.

As shown in fig. 17-18, an ankle support plate 44 is arranged on the connecting plate 43, the ankle support plate 44 is matched with the rear part of the shank of the human body, a roller 45 is arranged right behind the ankle support plate 44 through a rotating shaft, the roller 45 is connected with the rotating shaft through a tension spring,

The sole cover assembly further comprises a bowden wire 46, one end of the bowden wire 46 is fixedly connected with the right rear side of the upper portion of the sole cover assembly 41, and the other end of the bowden wire 46 is wound on the roller 45.

Specifically, the roller 45 is wrapped with the bowden cable 46, the upper portion of the sole sleeve assembly 41 is pulled by the bowden cable 46, the roller 45 is configured with a tension spring for resetting, a passive power assisting effect is formed with the bowden cable 46, the spring of the independent suspension assembly 422 is not compressed when dorsiflexing, the ankle joint is subjected to resistance when the bowden cable 46 is elongated when swinging freely, and the maximum limit and buffering can be performed when the bowden cable 46 is in dorsiflexion by adopting the elongation deformation of the bowden cable 46.

The foot exoskeleton 4 uses a passive mode of elastic suspension to enable the exoskeleton to rotate an ankle joint when a human body moves, and can be flexibly driven by the roller 45 in combination with the active bowden cable 46 to achieve a rigid-flexible coupling effect, a set of good adaptive design scheme is provided for a rotating mechanical structure at the ankle joint of the exoskeleton, and certain movement shock absorption and energy storage measures are achieved.

Embodiment two:

the power assisting method of the integral power assisting exoskeleton device based on the structure of the embodiment one comprises the following steps:

The inner ring of wrist ring 23 is provided with wrist pressure sensor, and wrist pressure sensor is used for responding to the pressure size that human wrist applyed wrist ring 23, and controller and air pump are installed at back board subassembly 13 rear portion, and the controller is used for driving control upper limbs cylinder 25, and the air pump passes through the trachea and is connected with upper limbs cylinder 25, is provided with the cylinder switching-over valve on the trachea. The wrist pressure sensor may be a thin film strain gauge.

And (3) lifting a heavy object:

when the pressure detection value of the wrist pressure sensor is smaller than the set low pressure threshold, the upper limb air cylinder 25 is in a disarmed state, so that the forearm support member 22 and the forearm support member 21 are relatively free to swing,

When the weight is lifted by the hands of the human body, and the pressure detection value of the wrist pressure sensor is larger than or equal to the pressure critical value of the starting upper limb air cylinder 25, the output end of the upper limb air cylinder 25 stretches out after the action of the air cylinder reversing valve, the forearm support member 22 is driven to swing upwards relative to the big arm support member 21, the angle between the forearm support member 22 and the big arm support member 21 is further reduced, the weight is lifted,

When the weight is put down, the wrist of the human body is pressed down, and when the pressure detection value of the wrist pressure sensor is smaller than the set low pressure threshold value, the cylinder reversing valve acts to enable the upper limb cylinder 25 to be in a gas leakage state.

During the walking process:

When the ankle joint of the foot of the human body is in dorsiflexion, the swinging member 424 swings forward of the foot structure of the human body, the spring of the independent suspension assembly 422 is in a natural elongation state,

When the ankle joint of the foot of the human body is in plantarflexion, the swinging member 424 swings rearward of the foot structure of the human body, and the springs of the independent suspension assembly 422 are in a compressed state.

Embodiment III:

When the human body wearing the exoskeleton walks to the target place, the upper limb air cylinder 25 is in a gas leakage state when the pressure detection value of the wrist pressure sensor is smaller than the set low pressure threshold value, so that the forearm support member 22 and the big arm support member 21 swing relatively freely;

When the weight at a lower position is required to be carried, squatting actions are carried out, the angles of thighs and shanks are changed while the hip joint, the knee joint and the ankle joint rotate, when the piston cylinder assembly 34 is an air cylinder, and when the downward pressure received by the pressure sensor at the end part of the piston cylinder is changed, the reversing valve of the piston cylinder assembly 34 can switch the air cylinder into a non-air supply state, and when a human body squats to a right angle between the thigh plate 31 and the shank plate 37, the hand of the human body contacts the weight.

In the process of lifting the weight by the hand of the human body, when the pressure detection value of the wrist pressure sensor is larger than or equal to the pressure critical value of the upper limb air cylinder 25, the output end of the upper limb air cylinder 25 stretches out after the action of the air cylinder reversing valve, the forearm support member 22 is driven to swing upwards relative to the big arm support member 21, the angle between the forearm support member 22 and the big arm support member 21 is further reduced, the weight is lifted, meanwhile, the lower limb of the human body stands, the included angle between the thigh plate 31 and the shank plate 37 is increased, and after the angle change is detected by the angle sensor, the piston rod of the piston cylinder assembly 34 stretches out, and the human body is assisted to stand.

In the walking process of the human body, the angle sensor is used for detecting the angle change of the thigh plate 31 and the shank plate 37, the pressure sensor is arranged at the end part of the piston rod of the piston cylinder assembly 34 and used for sensing the pressure change received by the knee joint, the pressure value is fed back to the controller to realize the air supply and the air exhaust of the reversing valve to realize the compression and the extension of the cylinder, and the human body is used for driving the tiny rotation feedback of the shank plate 37 to realize the telescopic action of the lower limb air rod, so that the power assisting effect is realized for the knee joint and the walking of the human body is assisted.

During walking of a human body, when the ankle joint is in plantarflexion, the independent suspension assembly 422 stores energy, during dorsiflexion, effective rotation can be achieved by means of swinging of the swinging piece 424, motion interference is not caused, during dorsiflexion, the independent suspension assembly 422 does not store energy (a spring is not compressed and kept as it is), the human body is assisted to walk, meanwhile, during dorsiflexion, the bowden wire 46 is flexibly driven by the roller 45, rigid-flexible coupling effect is achieved, and limiting and shock absorption are achieved.

When a weight is placed, the lower limb squatting movement is performed, the squatting process is fully performed, after the weight is placed, the hand is pressed downwards, and when the pressure detection value of the wrist pressure sensor is smaller than the set low pressure threshold value, the upper limb cylinder 25 is in a gas leakage state, so that the forearm support member 22 and the big arm support member 21 swing relatively freely, and the upper limb exoskeleton 2 does not work. The lower limb stands as described above.

In addition, when the piston cylinder assembly 34 is a gas spring, when the vertical state changes to the standing state, the piston rod extends out, driving force inside the cylinder body is converted into torque for driving the thigh plate 31 to swing relative to the knee joint rotating shaft 35, the human body is assisted to stand, a direct driving effect is achieved on the knee joint, and meanwhile, the extending and retracting of the piston rod also intermittently plays a role in assisting walking in the walking process.

In the second embodiment and the third embodiment, the active power assisting structure is arranged on the upper limb exoskeleton 2, the power assisting structure is arranged on the lower limb exoskeleton 3, the passive power assisting structure is arranged on the foot exoskeleton 4, the minimum power assisting structure is adopted in combination with the freedom degree of movement of each joint, and the good power assisting carrying effect of the exoskeleton is realized on the basis of reducing the system cost.

The above description is intended to illustrate the invention and not to limit it, the scope of which is defined by the claims, and any modifications can be made within the scope of the invention.

Claims

1. An integral power-assisted exoskeleton device is characterized by comprising a back exoskeleton (1), an upper limb exoskeleton (2), a lower limb exoskeleton (3) and a foot exoskeleton (4),

The back exoskeleton (1) is structurally characterized by comprising a rear cross beam (11), wherein two support rod assemblies (12) are arranged on the rear cross beam (11), the two support rod assemblies (12) are symmetrically arranged relative to a central line of the back exoskeleton (1) in the vertical direction, the back exoskeleton comprises a back plate assembly (13), shoulder joint assemblies (14) are respectively arranged on two sides of the upper part of the back plate assembly (13), the middle part of the back plate assembly (13) is simultaneously connected with the upper ends of the two support rod assemblies (12), and the back plate assembly (13) is fixed on the back of a human body needing assistance through a binding belt;

The shoulder joint assembly (14) comprises a shoulder fixing frame (142) connected with the back plate assembly (13), a shoulder joint L-shaped plate (144) is arranged on the shoulder fixing frame (142) through a ball joint connecting piece (146), and an upper limb swinging shaft (143) is arranged at the lower end of the shoulder joint L-shaped plate (144);

The upper limb exoskeleton (2) is two in number and matched with the upper limb of the human body, the single upper limb exoskeleton (2) is structurally characterized by comprising a forearm support (22) and a big arm support (21), the outer side of the upper end of the big arm support (21) is hinged with the upper limb swinging shaft (143), one end of the forearm support (22) is hinged with the lower end of the big arm support (21), the other end of the forearm support (22) is provided with a wrist ring (23) matched with the wrist of the human body, an upper limb air cylinder (25) is fixedly arranged on the outer side of the big arm support (21), the output end of the upper limb air cylinder (25) is in transmission connection with the forearm support (22), and the upper limb air cylinder (25) is used for driving the forearm support (22) to swing relative to the big arm support (21) so that the included angle between the forearm support (22) and the big arm support (21) is reduced;

The number of the lower limb ectoskeletons (3) is two, the lower limb ectoskeletons are matched with the lower limb of the human body, the single lower limb ectoskeleton (3) is structurally characterized by comprising a thigh plate (31), a shank plate (37) and a piston cylinder assembly (34), and further comprising a hip joint fixing shaft (32) which is rotationally connected with the upper end of the thigh plate (31), wherein the hip joint fixing shaft (32) is rotationally connected with the horizontal end part of the rear cross beam (11), a knee joint rotating shaft (35) is rotationally arranged at the lower end of the thigh plate (31), one end of the piston cylinder assembly (34) is hinged with the thigh plate (31), the other end of the piston cylinder assembly (34) is hinged with a cantilever rocker (39) on the outer circumferential surface of the knee joint rotating shaft (35), and the piston cylinder assembly (34) is used for assisting in increasing the angle between the thigh plate (31) and the shank plate (37), and the knee joint rotating shaft (35) is rotationally provided with the shank plate (37) through a round rod (38);

The number of the foot ectoskeletons (4) is two, the foot ectoskeletons are matched with the foot structure of a human body, the structure of a single foot ectoskeleton (4) is characterized by comprising a connecting plate (43), one end of the connecting plate (43) is an upper connecting part (432) which is detachably and fixedly connected with a lower leg plate (37), the other end of the connecting plate (43) is a lower hinging part (431), the lower hinging part (431) is hinged with a sole sleeve component (41), the sole sleeve component (41) is matched with the foot of the human body, the rear part of the sole sleeve component (41) is connected with the lower part of the connecting plate (43) through a passive power assisting component (42), and the passive power assisting component (42) stores energy for assisting walking when the foot structure of the human body performs plantarflexion.

2. The integrated power-assisted exoskeleton device of claim 1, wherein the single support rod assembly (12) comprises an upper support rod (123), a first arc-shaped connecting rod (121) and a second arc-shaped connecting rod (122), wherein the upper ends of the first arc-shaped connecting rod (121) and the second arc-shaped connecting rod (122) are hinged with the lower end of the upper support rod (123) after being hinged, and the upper end of the upper support rod (123) is hinged with the middle part of the back plate assembly (13);

The rear cross beam (11) is of a U-shaped bending structure, the end part of the rear cross beam (11) faces towards a bending part (112) of a human body, the inner side of the bending part (112) is hinged to the lower end of a first arc connecting rod (121), the outer side of the rear cross beam (11) is hinged to the lower end of a second arc connecting rod (122), the first arc connecting rod (121) and the second arc connecting rod (122) are arranged in a herringbone manner, the bending directions of the first arc connecting rod (121) and the second arc connecting rod (122) deviate from each other, and the lower end of the second arc connecting rod (122) is connected with the middle part of the length direction of the rear cross beam (11).

3. An integrated power-assisted exoskeleton device as set forth in claim 2, wherein a plurality of adjusting holes (111) are formed in the middle of the rear beam (11) in the length direction, the plurality of adjusting holes (111) are arranged along the length direction of the rear beam (11), and the lower end of the second arc-shaped connecting rod (122) is hinged to a single adjusting hole (111).

4. An integrated power assisted exoskeleton device as claimed in claim 1 wherein a shoulder gas spring (147) and a shoulder connecting rod (141) are mounted on the upper portion of the back plate assembly (13), the length directions of the shoulder connecting rod (141) and the shoulder gas spring (147) are consistent, the shoulder gas spring (147) is located above the shoulder connecting rod (141), one end of the shoulder gas spring (147) is fixedly connected with the back plate assembly (13), the other end of the shoulder gas spring (147) is hinged with the shoulder fixing frame (142), and one end of the shoulder connecting rod (141) is hinged with the shoulder fixing frame (142).

5. The integrated power-assisted exoskeleton device of claim 1, further comprising an elbow joint turntable (27) and an elbow connecting rod (26), wherein a turntable hinge part (271) is arranged on the outer side of the elbow joint turntable (27), the turntable hinge part (271) deviates from the rotation axis of the elbow joint turntable (27), one end of the elbow connecting rod (26) is hinged with the turntable hinge part (271), the other end of the elbow connecting rod (26) is hinged with the output end of the upper limb air cylinder (25),

The elbow joint fixing device is characterized by further comprising an elbow joint fixing disc (28), wherein the elbow joint fixing disc (28) is fixedly connected with the outer side of the forearm support (22) and is in transmission connection with the elbow joint rotating disc (27), the rotating axis of the elbow joint rotating disc (27) is collinear with the rotating axis of the joint of the forearm support (22) and the forearm support (21), and the inner side of the hinging part of the forearm support (22) and the forearm support (21) is hinged through a damping rotating device (24).

6. An integrated power assisted exoskeleton device as claimed in claim 1 wherein said piston cylinder assembly (34) is a cylinder or gas spring, said piston cylinder assembly (34) comprising a cylinder body and a piston rod which is in piston movement relative to the cylinder body, the piston rod being fully received in the cylinder body when the angle between said thigh plate (31) and said shank plate (37) is equal to ninety degrees.

7. The integrated power-assisted exoskeleton device as set forth in claim 1, wherein the number of thigh plates (31) is two, the thigh plates (31) are arranged in parallel, the two thigh plates (31) are respectively located at two ends of the hip joint fixing shaft (32) in the rotation axis direction and are simultaneously matched with the hip joint fixing shaft (32) and the knee joint rotating shaft (35), and a plurality of hole structures designed by adopting a topology optimization technology are arranged on the thigh plates (31).

8. An integrated power assisted exoskeleton device as claimed in claim 1 wherein the structure of said plantar cuff assembly (41) comprises a base plate (412), a set of support plates are provided on both sides of said base plate (412), a single set of support plates comprising a front support plate (413) and a rear support plate (414), both lower ends of which are connected to said base plate (412), the upper ends of said front support plate (413) and rear support plate (414) being hinged to said lower hinge (431) at the same time;

The passive power assisting component (42) has the structure that the passive power assisting component comprises a swinging component (424), the swinging component (424) comprises a swinging substrate, a rotating shaft (4242) is arranged on the swinging substrate, the rotating shaft (4242) is rotationally connected with the lower part of a connecting plate (43), the passive power assisting component further comprises a movable part (4243) and a limiting part (4241) which are arranged on the swinging substrate, the limiting part (4241) is provided with an arc-shaped through hole, the arc-shaped circle of the arc-shaped through hole is concentric with the rotating shaft (4242), the arc-shaped through hole is in sliding fit with a limiting shaft (423) arranged on the connecting plate (43), the limiting shaft (423) is positioned between the lower hinge part (431) and the rotating shaft (4242),

The movable support is characterized by further comprising a lower support rod (421) arranged on the rear support plate (414), wherein the end part of the lower support rod (421) and the movable part (4243) are both positioned behind the rear support plate (414) and are connected through an independent suspension assembly (422).

9. The integrated power-assisted exoskeleton device of claim 8, wherein the connecting plate (43) is provided with an ankle support plate (44), the ankle support plate (44) is matched with the rear part of the lower leg of the human body, a roller (45) is arranged right behind the ankle support plate (44) through a rotating shaft, the roller (45) is connected with the rotating shaft through a tension spring,

The novel shoe sole cover further comprises a Bowden wire (46), one end of the Bowden wire (46) is fixedly connected with the right rear part of the upper part of the sole cover assembly (41), and the other end of the Bowden wire (46) is wound on the roller (45).

10. A power assisting method of an integral power assisting exoskeleton device is characterized in that a wrist pressure sensor is arranged on an inner ring of a wrist ring (23), the wrist pressure sensor is used for sensing the pressure applied to the wrist ring (23) by a wrist of a human body, a controller and an air pump are arranged at the rear part of a back plate assembly (13), the controller is used for driving and controlling an upper limb air cylinder (25), the air pump is connected with the upper limb air cylinder (25) through an air pipe, and an air cylinder reversing valve is arranged on the air pipe;

And (3) lifting a heavy object:

When the pressure detection value of the wrist pressure sensor is smaller than the set low pressure threshold, the upper limb air cylinder (25) is in a gas release state, so that the forearm support member (22) and the big arm support member (21) swing relatively freely,

When the hands of the human body lift the weight, when the pressure detection value of the wrist pressure sensor is larger than or equal to the pressure critical value of the starting upper limb air cylinder (25), the output end of the upper limb air cylinder (25) stretches out after the air cylinder reversing valve acts, the forearm support member (22) is driven to swing upwards relative to the big arm support member (21), the angle between the forearm support member (22) and the big arm support member (21) is further reduced, the weight is lifted,

When a weight is put down, the wrist of the human body is pressed down, and when the pressure detection value of the wrist pressure sensor is smaller than a set low pressure threshold value, the cylinder reversing valve acts to enable the upper limb cylinder (25) to be in a gas leakage state;

During the walking process:

When the ankle joint of the foot of the human body is in dorsiflexion, the swinging piece (424) swings to the front of the foot structure of the human body, the spring of the independent suspension assembly (422) is in a natural extension state,

When the ankle joint of the foot of the human body is in plantarflexion, the swinging piece (424) swings to the rear of the foot structure of the human body, and the spring of the independent suspension assembly (422) is in a compressed state.