CN102599998B - Mechanical human hip exoskeleton bearing device - Google Patents
Mechanical human hip exoskeleton bearing device Download PDFInfo
- Publication number
- CN102599998B CN102599998B CN201210092998.3A CN201210092998A CN102599998B CN 102599998 B CN102599998 B CN 102599998B CN 201210092998 A CN201210092998 A CN 201210092998A CN 102599998 B CN102599998 B CN 102599998B
- Authority
- CN
- China
- Prior art keywords
- hip
- leg
- sleeve
- tappet
- universal connecting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Rehabilitation Tools (AREA)
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 particularly arranged on hipbone about one, for the load in people's exoskeleton portable power assisting device backrest being passed to the hipbone ectoskeleton mechanical loading device of leg bogey.
Background technology
In rescue and relief work or manpower transport, human body needs to carry increasing equipment and goods and materials, the gait of march of human body, travel distance and maneuverability can be affected like this, therefore, various countries are accelerating to develop the people's exoskeleton portable power assisting device meeting human engineering, to help human body to reduce physical consumption, improve heavy burden ability, endurance and human body maneuverability.
China starts late about the research of people's exoskeleton portable power assisting device, and the most weight capacity of existing people's exoskeleton portable power assisting device is low, and lacks hight coordinate and the motion bumper and absorbing shock ability of man-machine coordination movement needs.Particularly under fully loaded transportation condition, when human body walking fast, run and across Tiao Deng strenuous exercise time, traditional mechanical loading device is difficult to load, and can cause certain obstruction to the motion of human body, affect the balanced capacity of human body, action seriality and motility.
Summary of the invention
For the problems referred to above, the object of this invention is to provide and a kind ofly can pass leg bogey by the load efficient transmission in people's exoskeleton portable power assisting device backrest, and there is the hipbone ectoskeleton mechanical loading device of high degree of flexibility and bumper and absorbing shock function.
For achieving the above object, the present invention takes following technical scheme: a kind of hipbone ectoskeleton mechanical loading device, it is characterized in that: it comprises a symmetrically arranged left hip and a right hip, left and right hip symmetrical configuration, one end is all upturned and mutually intersects in X shape, at the infall of X shape, by a Center of Coxa hinge between left and right hip, in top and the bottom of X shape, between left and right hip, a spring is set respectively; The other end of left and right hip is respectively by a hip side hinge one lower limb hip connector, and the other end of two lower limb hip connectors is respectively by the first interface of universal connection hinge one universal connecting components; Second interface of two universal connecting components connects hinge one tappet respectively by a tappet, the other end of two tappets is set in a sleeve respectively, be respectively arranged with the stage clip supporting tappet in two sleeves, the other end of two sleeves is hinged on two lower limb hip connectors near the bottom of hip side bearing pin respectively by a sleeve connecting pin axle; 3rd interface of two universal connecting components connects hinge one leg regulating part respectively by a leg, and the other end of two leg adjustment members is then fixedly connected with the upper end of two thigh parts of leg bogey respectively.
Above-mentioned sleeve is provided with one section of chute near one end of universal connecting components, and the middle part of tappet is provided with the boss that coordinates slip in chute.
The above-mentioned top at X shape and bottom, two springs between left and right hip all adopt hot rolling stretching cylindrical screw RL II type spring to make.
The above-mentioned stage clip arranged in sleeve adopts hot rolling compression cylindrical screw RY I type spring to make.
The present invention is owing to taking above technical scheme, it has the following advantages: 1, the present invention connects backrest in people's exoskeleton portable power assisting device and leg bogey, by the cooperation of sleeve, stage clip and tappet, load in backrest is passed to leg bogey, there is stable load carrying capacity and transmission efficiency, human body effectively can be helped to improve march and fight or rescue and relief work heavy burden ability.2, the present invention adopts bearing pin and the hinged each component of universal connecting components, makes hip component and lower limb hip connector can flexible rotating, and can meet the multiple degrees of freedom requirement of human body when bearing heavy duty under different technologies action, flexibility ratio is high.3, the present invention by arranging spring on hip component and in the sleeve of lower limb hip connector, for people provides certain restoring force when walking and lifting lower limb, thus can alleviate the exercise fatigue of human body, also have damping effect simultaneously, and whole device is carried steadily.4, the present invention by arranging chute on sleeve, limits the extreme position of tappet, avoids the horizontal force because of lower limb hip connector excessive and turn over after causing backrest, makes that human body is unbalance to be fallen down.Mechanism of the present invention meets human engineering, simple and compact for structure, can meet joint motions and the dynamic changes process requirement of dissimilar people's exoskeleton portable power assisting device.
Accompanying drawing explanation
Fig. 1 is structural front view of the present invention
Fig. 2 is the left view of Fig. 1
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in detail.
The present invention is in people's exoskeleton portable power assisting device, connects the middle device of backrest and leg bogey, for the external applied load in backrest is passed to leg bogey.
As shown in Figure 1, the present invention includes symmetrically arranged left hip 1 and a right hip 2.Left hip 1 and right hip 2 symmetrical configuration, one end is all upturned and mutually intersects in X shape.At the infall of X shape, hinged by a Center of Coxa bearing pin 3 between left hip 1 and right hip 2, simultaneously by Center of Coxa bearing pin 3, be fixedly connected on (not shown) in backrest.In top and the bottom of X shape, between left hip 1 and right hip 2, be also respectively arranged with a spring: spring 4 and hip lower spring 5 on hip.On hip, spring 4 and hip lower spring 5 all can adopt hot rolling stretching cylindrical screw RL II type spring.When people in the process of walking, on hip, spring 4 and hip lower spring 5 are compressed or are stretched, and provide certain restoring force, help people to lift lower limb, also have damping effect simultaneously, and whole device is carried steadily.
Left hip 1 of the present invention and right hip 2 symmetrical configuration, the modular construction connected is identical, is only illustrated for left hip 1 below.As shown in Figure 1 and Figure 2, the other end of left hip 1 is by the hinged lower limb hip connector 7 of a hip side bearing pin 6, when people has walked leaping over obstacles or other technologies action in side direction, thigh swings, left hip 1 realizes relative rotation by hip side bearing pin 6 with lower limb hip connector 7, thus completes swaying legs action.The other end of lower limb hip connector 7 passes through the first interface of the hinged universal connecting components 9 of a universal connection bearing pin 8.Second interface of universal connecting components 9 connects the hinged tappet 11 of bearing pin 10 by a tappet, and the other end of tappet 11 is set in a sleeve 12.The stage clip 13 supporting tappet 11 is provided with in sleeve 12.Stage clip 13 can adopt hot rolling to compress cylindrical screw RY I type spring, both can realize dynamic changes process, and can provide certain restoring force again, and can also play damping effect simultaneously.The other end of sleeve 12 is hinged on the bottom of lower limb hip connector 7 near hip side bearing pin 6 by a sleeve connecting pin axle 14.3rd interface of universal connecting components 9 connects the hinged leg regulating part 16 of bearing pin 15 by a leg, and the other end of leg adjustment member 16 is then fixedly connected with (not shown) with the upper end of the thigh part of leg bogey.
Above-mentioned universal connecting components 9 has three interfaces, can realize the rotation in two degree of freedom directions, meets the degree of freedom requirement that people is required when completing different technologies action.When people normally walks, thigh swing, lower limb hip connector 7 can realize relative rotation by universal connection bearing pin 8 with universal connecting components 9; When people has walked leaping over obstacles or other technologies action in side direction, thigh swings, drive leg bogey to swing, connected leg adjustment member 16 connects bearing pin 15 by leg and realizes relative rotation with universal connecting components 9, thus completes swaying legs action.
In above-described embodiment, sleeve 12 is provided with one section of chute 121 near one end of universal connecting components 9, the middle part of tappet 11 is provided with one in chute 121, coordinates the boss 111 slided, the object of such setting is to realize carrying and spacing: when external applied load passes to sleeve 12 by sleeve connection bearing pin 14, there is relative sliding in sleeve 12 and tappet 11, boss 111 slides along chute 121, when boss 111 slides into two end points of chute 121, relative sliding can not be there is again in sleeve 12 and tappet 11, thus become a rigid body, now, external applied load is by sleeve connection bearing pin 14, sleeve 12 and tappet 11 are delivered to universal connecting components 9, leg adjustment member 16 and leg bogey is delivered to again by universal connecting components 9, realize the transmission of external applied load, when bearing weight and being overweight, there is relative sliding in sleeve 12 and tappet 11, boss 111 slides into one end end points away from universal connecting components 9 along chute 121, reach capacity position, sleeve 12 and tappet 11 can not continue relative sliding occurs, make backrest keep balance, thus avoid the horizontal force because of lower limb hip connector 7 excessive and turn over after causing backrest, make that human body is unbalance to be fallen down.
The various embodiments described above are only for illustration of the present invention, and wherein the structure, connected mode etc. of each parts all can change to some extent, and every equivalents of carrying out on the basis of technical solution of the present invention and improvement, all should not get rid of outside protection scope of the present invention.
Claims (3)
1. a hipbone ectoskeleton mechanical loading device, it is characterized in that: it comprises a symmetrically arranged left hip and a right hip, described left and right hip symmetrical configuration, one end is all upturned and mutually intersects in X shape, at the infall of described X shape, by a Center of Coxa hinge between described left and right hip, in top and the bottom of described X shape, between described left and right hip, a spring is set respectively; The other end of described left and right hip is respectively by a hip side hinge one lower limb hip connector, and the other end of lower limb hip connector described in two is respectively by the first interface of universal connection hinge one universal connecting components; Second interface of universal connecting components described in two connects hinge one tappet respectively by a tappet, the other end of tappet described in two is set in a sleeve respectively, be respectively arranged with the stage clip supporting described tappet in sleeve described in two, the other end of sleeve described in two is hinged on the bottom of lower limb hip connector described in two near described hip side bearing pin respectively by a sleeve connecting pin axle; 3rd interface of universal connecting components described in two connects hinge one leg regulating part respectively by a leg, and the other end of leg adjustment member described in two is then fixedly connected with the upper end of two thigh parts of leg bogey respectively;
Described sleeve is provided with one section of chute near one end of described universal connecting components, and the middle part of described tappet is provided with the boss that coordinates slip in described chute.
2. a kind of hipbone ectoskeleton mechanical loading device as claimed in claim 1, is characterized in that: in top and the bottom of described X shape, and two springs between described left and right hip all adopt hot rolling stretching cylindrical screw RL II type spring to make.
3. as a kind of hipbone ectoskeleton mechanical loading device of claim 1 or 2, it is characterized in that: the stage clip arranged in described sleeve adopts hot rolling compression cylindrical screw RY I type spring to make.
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102599998A CN102599998A (en) | 2012-07-25 |
| CN102599998B true CN102599998B (en) | 2015-06-17 |
Family
ID=46518033
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210092998.3A Expired - Fee Related CN102599998B (en) | 2012-03-31 | 2012-03-31 | Mechanical human hip exoskeleton bearing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102599998B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103142332B (en) * | 2013-02-25 | 2014-12-24 | 西南交通大学 | Assistance type two-stage coupling device used between back frame and hip part of exoskeleton |
| 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 |
| CN105904440B (en) * | 2016-05-26 | 2018-06-19 | 成都润惠科技有限公司 | A kind of self-adapting flexible joint exoskeleton device |
| CN111615376B (en) * | 2018-11-28 | 2022-05-03 | 袁博 | Hip joint 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 |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3901223A (en) * | 1973-05-31 | 1975-08-26 | Hanger & Co Ltd J E | Knee joints for leg irons |
| 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 |
| 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 (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4964628A (en) * | 1989-06-30 | 1990-10-23 | Center For Orthotics Design, Inc. | Hip-reciprocating apparatus |
| CA2601220C (en) * | 2005-01-18 | 2014-03-18 | The Regents Of The University Of California | Lower extremity 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 |
-
2012
- 2012-03-31 CN CN201210092998.3A patent/CN102599998B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3901223A (en) * | 1973-05-31 | 1975-08-26 | Hanger & Co Ltd J E | Knee joints for leg irons |
| 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 |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102599998A (en) | 2012-07-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102599998B (en) | Mechanical human hip exoskeleton bearing device | |
| US11071675B2 (en) | Lower limb exoskeleton system having jump-down cushioning function and method of using the same | |
| CN105686927B (en) | Collapsible mobile lower limb exoskeleton | |
| CN106828654B (en) | A kind of four-leg bionic robot | |
| CA2724062C (en) | Device and method for decreasing oxygen consumption of a person during steady walking by use of a load-carrying exoskeleton | |
| CN105105973A (en) | Wearable power-assisted exoskeleton lower limb mechanism | |
| WO2013106532A1 (en) | Load and torque resistant caliper exoskeleton | |
| WO2018133266A1 (en) | Heavy-load under-actuated parallel lower-limb assisting exoskeleton having elastic buffer | |
| Dunning et al. | A review of assistive devices for arm balancing | |
| CN108556956B (en) | Robot imitating cat jumping | |
| AU2017387839B2 (en) | Linking device for an exoskeleton structure, facilitating the carrying of loads while walking or running | |
| RU156507U1 (en) | EXCOSCELETON OF THE LOWER EXTREMITIES | |
| CN110561393B (en) | Foldable upper limb assistance exoskeleton device | |
| CN113352303B (en) | Wearable transport helping hand type ectoskeleton | |
| JP2021506610A (en) | Exoskeleton structure | |
| CN111452026A (en) | Passive knee joint exoskeleton | |
| WO2018165399A1 (en) | Devices for the support and balance of human exoskeletons | |
| CN103816029B (en) | Six degree of freedom leg recovery exercising robot | |
| CN107042502B (en) | Closed chain link-type drive lacking lower limb exoskeleton mechanism | |
| CN202605060U (en) | Human hip exoskeleton mechanical bearing device | |
| CN205459236U (en) | Collapsible portable low limbs ectoskeleton | |
| CN113146579B (en) | Trans-joint load supporting device based on passive variable-stiffness damper | |
| CN108214457B (en) | Passive trunk labor-saving device for lower limb exoskeleton | |
| RU2565101C1 (en) | Electrofluidic controlled external skeleton | |
| CN108992307A (en) | Anti-down protective device and its healing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150617 Termination date: 20180331 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |