CN102599998A - Mechanical human hip exoskeleton bearing device - Google Patents
Mechanical human hip exoskeleton bearing device Download PDFInfo
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- CN102599998A CN102599998A CN2012100929983A CN201210092998A CN102599998A CN 102599998 A CN102599998 A CN 102599998A CN 2012100929983 A CN2012100929983 A CN 2012100929983A CN 201210092998 A CN201210092998 A CN 201210092998A CN 102599998 A CN102599998 A CN 102599998A
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- hip
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- bearing pin
- tappet
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Abstract
The invention relates to a mechanical human hip exoskeleton bearing device, comprising a left hip and a right hip which are structurally symmetrical. The left hip and the right hip are hinged to form an X-shaped structure via a hip center hinge pin, and two springs are respectively arranged at the top and the bottom of the X-shaped structure and between the left hip and the right hip. The other ends of the left hip and the right hip are respectively hinged with two leg and hip connecting parts, and the other ends of the two leg and hip connecting parts are respectively hinged with first connectors of two universal connecting parts. Second connectors of the two universal connecting parts are respectively connected with two tappet rods, the other ends of the two tappet rods are respectively sleeved in two sleeves, and two pressure springs for supporting the tappet rods are respectively arranged in the two sleeves. The other ends of the two sleeves are respectively hinged to the lower portions, close to the hips, of the two leg and hip connecting parts. Third connectors of the two universal connecting parts are respectively hinged with two leg adjusting parts, and the other ends of the two leg adjusting parts are fixedly connected with the upper ends of thigh parts of leg bearing devices. The mechanical human hip exoskeleton bearing device can transmit load on a back rack of a human exoskeleton carrying power assisting device to the leg bearing devices, and has high flexibility and a damping function.
Description
Technical field
The present invention relates to a kind of mechanical loading device,, be used for the load on the human body ectoskeleton portable power assisting device back of the body frame is passed to the human body hip ectoskeleton mechanical loading device of shank bogey particularly about a kind of human body hip that is arranged on.
Background technology
In rescue and relief work or manpower transportation; Human body need carry increasing equipment and goods and materials; Can influence gait of march, travel distance and the maneuverability of human body like this, therefore, various countries are quickening to develop the human body ectoskeleton portable power assisting device of ergonomic; To help human body to reduce physical consumption, improve heavy burden ability, endurance and human body maneuverability.
China starts late about the research of human body ectoskeleton portable power assisting device, and the most weight capacity of existing human body ectoskeleton portable power assisting device is low, and lacks hight coordinate property and motion bumper and absorbing shock ability that the man-machine coordination campaign requires.Particularly under fully loaded transportation condition; When human body when walking fast, running and striding strenuous exercise such as jumping, traditional mechanical loading device is difficult to load, and can cause certain obstruction to the motion of human body; Influence the balanced capacity of human body, action seriality and motility.
Summary of the invention
To the problems referred to above, the purpose of this invention is to provide and a kind ofly can give the shank bogey the load efficient transfer on the human body ectoskeleton portable power assisting device back of the body frame, and the human body hip ectoskeleton mechanical loading device with high degree of flexibility and bumper and absorbing shock function.
Be to realize above-mentioned purpose, the present invention takes following technical scheme: a kind of human body hip ectoskeleton mechanical loading device, and it is characterized in that: it comprises symmetrically arranged one a left hip and a right hip; Left and right hip symmetrical configuration; One end all is upturned to intersect each other and is the X shape, and is at the infall of X shape, hinged through a hip central pin shaft between the left and right hip; In the top and the bottom of X shape, a spring is set respectively between the left and right hip; The other end of left and right hip is respectively through the hinged lower limb hip connector of a hip side bearing pin, and the other end of two lower limb hip connectors passes through first interface of the hinged universal connecting components of a universal connection bearing pin respectively; Second interface of two universal connecting components connects the hinged tappet of bearing pin through a tappet respectively; The other end of two tappets is set in respectively in the sleeve; Be respectively arranged with the stage clip that supports tappet in two sleeves, the two telescopic other ends connect bearing pin through a sleeve respectively and are hinged on the bottom of two lower limb hip connectors near hip side bearing pin; The 3rd interface of two universal connecting components connects the hinged shank regulating part of bearing pin through a shank respectively, and the other end that two shanks are regulated parts then is fixedly connected with the upper end of two thigh parts of shank bogey respectively.
Above-mentioned sleeve is provided with one section chute near an end of universal connecting components, and the middle part of tappet is provided with one and in chute, cooperates the boss that slides.
Above-mentioned in the top and the bottom of X shape, two springs between the left and right hip all adopt hot rolling stretching cylindrical screw RL II type spring to process.
The above-mentioned stage clip that in sleeve, is provided with adopts hot rolling compression cylindrical screw RY I type spring to process.
The present invention is owing to take above technical scheme; It has the following advantages: 1, the present invention connects back of the body frame and the shank bogey in the human body ectoskeleton portable power assisting device; Cooperation through sleeve, stage clip and tappet; Load on the back of the body frame is passed to the shank bogey, have stable load-bearing ability and transmission efficiency, can help human body to improve march effectively and fight or rescue and relief work heavy burden ability.2, the present invention adopts bearing pin and hinged each member of universal connecting components, and hip member and lower limb hip connector can be rotated flexibly, can satisfy human body multiple degrees of freedom requirement under the different technologies action when bearing heavy duty, and flexibility ratio is high.3, the present invention for the people provides certain restoring force when lower limb is lifted in walking, thereby can alleviate the exercise fatigue of human body through on the hip member and in the sleeve of lower limb hip connector, spring being set, and also has damping effect simultaneously, and whole device is carried steadily.4, the present invention limits the extreme position of tappet through chute is set on sleeve, turns over after avoiding causing carrying on the back frame because of the horizontal force of lower limb hip connector is excessive, makes that human body is unbalance to be fallen down.Mechanism of the present invention ergonomic, simple and compact for structure, can satisfy the joint motions and the load delivery request of dissimilar human body ectoskeleton portable power assisting devices.
Description of drawings
Fig. 1 is a structural front view of the present invention
Fig. 2 is the left view of Fig. 1
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is carried out detailed description.
The present invention is in the human body ectoskeleton portable power assisting device, connects the middle device of back of the body frame and shank bogey, is used for the external applied load on the back of the body frame is passed to the shank bogey.
As shown in Figure 1, the present invention includes symmetrically arranged one a left hip 1 and a right hip 2.Left side hip 1 and right hip 2 symmetrical configuration, an end all are upturned to intersect each other and are the X shape.At the infall of X shape, hinged between left hip 1 and the right hip 2 through a hip central pin shaft 3, simultaneously through hip central pin shaft 3, be fixedly connected on (not shown) on the back of the body frame.In the top and the bottom of X shape, also be respectively arranged with a spring between left hip 1 and the right hip 2: hip upper spring 4 and hip lower spring 5.Hip upper spring 4 all can adopt hot rolling stretching cylindrical screw RL II type spring with hip lower spring 5.When the people in the process of walking, hip upper spring 4 is compressed with hip lower spring 5 or stretches, and certain restoring force is provided, and helps the people to lift lower limb, also has damping effect simultaneously, and whole device is carried steadily.
Above-mentioned universal connecting components 9 has three interfaces, can realize the rotation of two degree of freedom directions, satisfies people's needed degree of freedom requirement when accomplishing the different technologies action.When the people normally walks, the thigh swing, lower limb hip connector 7 can be realized rotation relatively through universal connection bearing pin 8 and universal connecting components 9; When the people when leaping over obstacles or other technologies action are accomplished in side direction walking; Thigh swings; Drive the shank bogey and swing, connected shank is regulated parts 16 and is realized rotation relatively through shank connection bearing pin 15 and universal connecting components 9, thus the completion swaying legs action.
In the foregoing description, sleeve 12 is provided with one section chute 121 near an end of universal connecting components 9, and the middle part of tappet 11 is provided with one and in chute 121, cooperates the boss 111 that slides; The purpose that is provided with like this is in order to realize carrying with spacing: when external applied load is connected bearing pin 14 and passes to sleeve 12 through sleeve; Sleeve 12 takes place to slide relatively with tappet 11, and boss 111 slides along chute 121, when boss 111 slides into two end points of chute 121; Relative slip can not take place with tappet 11 in sleeve 12 again; Thereby become a rigid body, at this moment, external applied load connects bearing pin 14, sleeve 12 and tappet 11 through sleeve and is delivered to universal connecting components 9; Be delivered to shank through universal connecting components 9 again and regulate parts 16 and shank bogey, realize the transmission of external applied load; When bearing weight when overweight; Sleeve 12 takes place to slide relatively with tappet 11, and boss 111 slides into the end end points away from universal connecting components 9 along chute 121, and the position reaches capacity; Sleeve 12 can not continue to take place relative slip with tappet 11; Make back of the body frame keep balance, thereby turn over after avoiding causing carrying on the back frame, make that human body is unbalance to be fallen down because of the horizontal force of lower limb hip connector 7 is excessive.
Above-mentioned each embodiment only is used to explain the present invention, and wherein the structure of each parts, connected mode etc. all can change to some extent, and every equivalents of on the basis of technical scheme of the present invention, carrying out and improvement all should not got rid of outside protection scope of the present invention.
Claims (5)
1. human body hip ectoskeleton mechanical loading device; It is characterized in that: it comprises symmetrically arranged one a left hip and a right hip, said left and right hip symmetrical configuration, and an end all is upturned to intersect each other and is the X shape; Infall at said X shape; Hinged between the said left and right hip through a hip central pin shaft, in the top and the bottom of said X shape, between the said left and right hip spring is set respectively; The other end of said left and right hip is respectively through the hinged lower limb hip connector of a hip side bearing pin, and the other end of two said lower limb hip connectors passes through first interface of the hinged universal connecting components of a universal connection bearing pin respectively; Second interface of two said universal connecting components connects the hinged tappet of bearing pin through a tappet respectively; The other end of two said tappets is set in respectively in the sleeve; Be respectively arranged with the stage clip that supports said tappet in the two said sleeves, the two said telescopic other ends connect bearing pin through a sleeve respectively and are hinged on the bottom of two said lower limb hip connectors near said hip side bearing pin; The 3rd interface of two said universal connecting components connects the hinged shank regulating part of bearing pin through a shank respectively, and the other end that two said shanks are regulated parts then is fixedly connected with the upper end of two thigh parts of shank bogey respectively.
2. a kind of human body hip ectoskeleton as claimed in claim 1 mechanical loading device, it is characterized in that: said sleeve is provided with one section chute near an end of said universal connecting components, and the middle part of said tappet is provided with one and in said chute, cooperates the boss that slides.
3. a kind of human body hip ectoskeleton as claimed in claim 1 mechanical loading device, it is characterized in that: in the top and the bottom of said X shape, two springs between the said left and right hip all adopt hot rolling stretching cylindrical screw RL II type spring to process.
4. a kind of human body hip ectoskeleton as claimed in claim 2 mechanical loading device, it is characterized in that: in the top and the bottom of said X shape, two springs between the said left and right hip all adopt hot rolling stretching cylindrical screw RL II type spring to process.
5. like each described a kind of human body hip ectoskeleton mechanical loading device of claim 1～4, it is characterized in that: the stage clip that in said sleeve, is provided with adopts hot rolling compression cylindrical screw RY I type spring to process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210092998.3A CN102599998B (en) | 2012-03-31 | 2012-03-31 | Mechanical human hip exoskeleton bearing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210092998.3A CN102599998B (en) | 2012-03-31 | 2012-03-31 | Mechanical human hip exoskeleton bearing device |
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| Publication Number | Publication Date |
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| CN102599998A true CN102599998A (en) | 2012-07-25 |
| CN102599998B CN102599998B (en) | 2015-06-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210092998.3A Expired - Fee Related CN102599998B (en) | 2012-03-31 | 2012-03-31 | Mechanical human hip exoskeleton bearing device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103142332A (en) * | 2013-02-25 | 2013-06-12 | 西南交通大学 | Assistance type coupling device used between back frame and hip part of exoskeleton |
| CN105147500A (en) * | 2015-10-16 | 2015-12-16 | 北京机械设备研究所 | Exoskeleton thigh connecting device |
| CN105856194A (en) * | 2016-05-19 | 2016-08-17 | 成都润惠科技有限公司 | Bearing device for hip exoskeleton |
| CN105904440A (en) * | 2016-05-26 | 2016-08-31 | 成都润惠科技有限公司 | Self-adaptation flexible joint exoskeleton device |
| CN109760026A (en) * | 2019-03-14 | 2019-05-17 | 布法罗机器人科技（成都）有限公司 | Hip mechanism for wearable ectoskeleton |
| WO2020108517A1 (en) * | 2018-11-28 | 2020-06-04 | 袁博 | Hip exoskeleton |
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| US4964628A (en) * | 1989-06-30 | 1990-10-23 | Center For Orthotics Design, Inc. | Hip-reciprocating apparatus |
| CN101132753A (en) * | 2005-01-18 | 2008-02-27 | 加利福尼亚大学董事会 | Lower extremity exoskeleton |
| CN201375580Y (en) * | 2009-03-24 | 2010-01-06 | 中国人民解放军海军航空工程学院 | Cable-stayed load carrying system for lower limbs |
| WO2010101595A1 (en) * | 2008-12-18 | 2010-09-10 | Berkeley Bionics | Wearable material handling system |
| CN201633024U (en) * | 2010-02-06 | 2010-11-17 | 山东科技大学 | Pneumatic balancing structure for large arm joint |
| CN102098986A (en) * | 2008-07-23 | 2011-06-15 | 伯克利仿生技术公司 | An exoskeleton and method for controlling a swing leg of the exoskeleton |
| CN201870775U (en) * | 2010-11-12 | 2011-06-22 | 河南科技大学 | Pneumatic driving type exoskeleton mechanical structure of lower limb walking rehabilitation training robot |
| CN201920940U (en) * | 2011-01-14 | 2011-08-10 | 刘勤 | Linear motor driven device for human body lower limb exoskeleton walking aid device driven by linear motor |
| CN202128569U (en) * | 2011-06-30 | 2012-02-01 | 山东科技大学 | Three-degree-of-freedom adjustable artificial limb upper arm |
| CN202605060U (en) * | 2012-03-31 | 2012-12-19 | 中国人民解放军总后勤部军需装备研究所 | Human hip exoskeleton mechanical bearing device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1430990A (en) * | 1973-05-31 | 1976-04-07 | Hanger & Co Ltd J E | Knee joints for leg irons |
-
2012
- 2012-03-31 CN CN201210092998.3A patent/CN102599998B/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4964628A (en) * | 1989-06-30 | 1990-10-23 | Center For Orthotics Design, Inc. | Hip-reciprocating apparatus |
| CN101132753A (en) * | 2005-01-18 | 2008-02-27 | 加利福尼亚大学董事会 | Lower extremity exoskeleton |
| CN102098986A (en) * | 2008-07-23 | 2011-06-15 | 伯克利仿生技术公司 | An exoskeleton and method for controlling a swing leg of the exoskeleton |
| WO2010101595A1 (en) * | 2008-12-18 | 2010-09-10 | Berkeley Bionics | Wearable material handling system |
| CN201375580Y (en) * | 2009-03-24 | 2010-01-06 | 中国人民解放军海军航空工程学院 | Cable-stayed load carrying system for lower limbs |
| CN201633024U (en) * | 2010-02-06 | 2010-11-17 | 山东科技大学 | Pneumatic balancing structure for large arm joint |
| CN201870775U (en) * | 2010-11-12 | 2011-06-22 | 河南科技大学 | Pneumatic driving type exoskeleton mechanical structure of lower limb walking rehabilitation training robot |
| CN201920940U (en) * | 2011-01-14 | 2011-08-10 | 刘勤 | Linear motor driven device for human body lower limb exoskeleton walking aid device driven by linear motor |
| CN202128569U (en) * | 2011-06-30 | 2012-02-01 | 山东科技大学 | Three-degree-of-freedom adjustable artificial limb upper arm |
| CN202605060U (en) * | 2012-03-31 | 2012-12-19 | 中国人民解放军总后勤部军需装备研究所 | Human hip exoskeleton mechanical bearing device |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103142332A (en) * | 2013-02-25 | 2013-06-12 | 西南交通大学 | Assistance type coupling device used between back frame and hip part of exoskeleton |
| CN105147500A (en) * | 2015-10-16 | 2015-12-16 | 北京机械设备研究所 | Exoskeleton thigh connecting device |
| CN105147500B (en) * | 2015-10-16 | 2017-03-29 | 北京机械设备研究所 | A kind of ectoskeleton thigh attachment means |
| CN105856194A (en) * | 2016-05-19 | 2016-08-17 | 成都润惠科技有限公司 | Bearing device for hip exoskeleton |
| CN105904440A (en) * | 2016-05-26 | 2016-08-31 | 成都润惠科技有限公司 | Self-adaptation flexible joint exoskeleton device |
| WO2020108517A1 (en) * | 2018-11-28 | 2020-06-04 | 袁博 | Hip exoskeleton |
| CN109760026A (en) * | 2019-03-14 | 2019-05-17 | 布法罗机器人科技（成都）有限公司 | Hip mechanism for wearable ectoskeleton |
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| Publication number | Publication date |
|---|---|
| CN102599998B (en) | 2015-06-17 |
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