CN103142332A - Assistance type coupling device used between back frame and hip part of exoskeleton - Google Patents
Assistance type coupling device used between back frame and hip part of exoskeleton Download PDFInfo
- Publication number
- CN103142332A CN103142332A CN2013100585966A CN201310058596A CN103142332A CN 103142332 A CN103142332 A CN 103142332A CN 2013100585966 A CN2013100585966 A CN 2013100585966A CN 201310058596 A CN201310058596 A CN 201310058596A CN 103142332 A CN103142332 A CN 103142332A
- Authority
- CN
- China
- Prior art keywords
- backrest
- hip
- antivibrator
- back frame
- exoskeleton
- 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.)
- Granted
Links
Images
Landscapes
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a coupling device used between a back frame and a hip part of an exoskeleton. The coupling device is characterized in that a waist protecting plate is arranged between the back frame and the hip part of the exoskeleton to serve as a middle connecting device; primary dampers are arranged in a bilateral symmetry manner between the back frame and the waist protecting plate to realize the primary connection; and secondary dampers are symmetrically arranged between the waist protecting plate and the left and right hip structure to realize the secondary connection. The coupling device provided by the invention is capable of restraining the translational and rotational freedom of the back frame, the right hip component and the left hip component, realizing stable and reliable connection, allowing the load of the back frame to be smoothly transferred to a lower limb structure, and enhancing the stability of the load; and through stretching action of the dampers, certain degree of rotational freedom range can be released, so that the coupling device not only can reduce the impact load to the exoskeleton caused by the load during the man-machine movement period, but also can realize the decoupling of the left side and the right side of the exoskeleton and effectively improve the coordination of the man-machine movement.
Description
Technical field
The present invention relates to the design of frame for movement, relate in particular to a kind of for the ectoskeletal two-stage hookup of realizing that backrest is connected connection and can be reliably carried with hip of assistance type.
Background technology
Oscillation phenomenon is the natural phenomena of every engineering goods, fractures because of tremor as wing, and steel construction caves in etc. because of resonance, and this calls unfavorable factor; And for example jigging conveyer, vibrator etc., be favorable factor.Become the occasion of mechanical unfavorable factor in vibration, vibration damping and vibration isolation have more and more higher requirement, so the design of elastic damping system is the steps necessary of Machine Design equally.
For the ectoskeleton structure in man-machine carrying system, its major function is replacing human body to bear vertical load, so must tightly link together by connecting device between ectoskeleton and human body.During man-machine portable, bearing a heavy burden can Caused Vibration and impact phenomenon with speed and the acceleration of human motion like this.When man-machine portable walking, support mutually and swing periodic movement mutually in, man-machine barycenter has the motion feature of a dipping and heaving, is rising or the heavy stage, and bearing a heavy burden all can cause dynamic loading by acceleration, and with man-machine barycenter curve repeated action in ectoskeleton, along with the increase of the speed of travel, the quickening of step frequency and the increase of stride, the frequency in this dynamic load effect cycle also can increase, amplitude can become greatly, causes ectoskeletal vibratory impulse.
Simultaneously during man-machine walking movement, swing provides side the hip phenomenon can occur hanging with respect to support-side, when being single foot support, heavy burden is supported by this side, the motion of opposite side can not be restricted, otherwise can affect the harmony between man-machine motion, this just requires the connecting device between backrest and hip should vertical support force, and the freedom of motion between both sides can not restrict again mutually.
By the vibration that may be subject to ectoskeleton and the analysis of percussion, and on the impact of between humans and machines harmony, require the design between ectoskeletal backrest and hip structure should satisfy load bearing requirements, can realize again the decoupling zero of left and right hip, satisfy the requirement of man-machine sports coordination.
In the research of present ectoskeleton frame for movement, emphasis concentrates on the design of lower limb load carrier and intensity, stiffness analysis, and often ignored problem between backrest and hip, and from the achievement in research of announcing, usually connect backrest, left and right hip as a whole, can realize that human body is upright, the carrying under static conditions, but do not solve for the carrying such as the walking athletic posture of etc.ing, and the coordination exercise between man-machine does not have realization.
the present invention proposes a kind of new ectoskeletal two-stage hookup of realizing that backrest be connected connection and can be reliably carried with hip of assistance type that is used for, the waist backplate is set as intermediate junction device between backrest and hip, and share a jackshaft, simultaneously at backrest and backplate, be symmetrical arranged antivibrator between backplate and hip structure, respectively the three is reliably connected, and the stretching action by antivibrator, can strengthen the stability of heavy burden, effectively reduce the shock loading of bearing a heavy burden and between man-machine moving period, ectoskeleton being caused, can realize the decoupling zero of the ectoskeleton left and right sides, effectively improve the harmony of man-machine motion.
Summary of the invention
The objective of the invention is to design a kind of a kind of new device that is applied to ectoskeleton backrest and hip connection, strengthen the stability of bearing a heavy burden under the effect of antivibrator, effectively reduce the shock loading of bearing a heavy burden and between man-machine moving period, ectoskeleton being caused, realize the decoupling zero of the ectoskeleton left and right sides, effectively improve the harmony of man-machine motion.
Realize that the technical scheme that the object of the invention adopts is:
A kind of assistance type ectoskeleton backrest hip two-stage hookup, the buffering that is used in the ectoskeleton structure of man-machine carrying system between backrest and hip member connects, guarantee transmission and the man-machine motor coordination of external applied load, waist backplate 100 is set, be provided with the two-stage coupling arrangement on the waist backplate, one is used for connecting with backrest 200, and comprising: an end of one-level antivibrator 201 is arranged on waist backplate 100, and its other end connects with the left side of backrest 200; One-level antivibrator 202 is symmetrical arranged, and connects with the right of backrest 200; Another coupling arrangement is used for connecting with the hip member, and comprising: an end of secondary antivibrator 301 is arranged on waist backplate 100, and its other end connects with left hip member 300, and another secondary antivibrator 302 is symmetrical arranged, and connects with right hip member 400; Waist backplate 100 middle parts arrange central shaft 120, and backrest 200, left hip member 300 and right hip member 400 are socketed on central shaft 120.
Adopt structure as above, the waist backplate is set as intermediate junction device between ectoskeletal backrest and hip, and share by the three degree of freedom constraint that a jackshaft is tentatively realized three translation directions and two rotation directions; In order to make waist backplate and backrest can be positioned at all the time the centre position in man-machine motor process, simultaneously be symmetrical set the one-level antivibrator between backrest and waist backplate, realize a level link, be symmetrical arranged the secondary antivibrator between backplate and hip structure, realize two level links, and simultaneously the three reliably is connected to coupled structure.
By this mode that the two-stage hookup is set between the ectoskeletal backrest of assistance type and left and right hip and waist backplate, can retrain three's translation and rotational freedom, realize reliable and stable connection, make the heavy burden on backrest successfully to the transmission of lower limb structure, strengthen the stability of bearing a heavy burden; And the stretching action by antivibrator, can discharge certain rotational freedom scope, not only can effectively reduce the shock loading of bearing a heavy burden and between man-machine moving period, ectoskeleton being caused, can also realize the decoupling zero of the ectoskeleton left and right sides, effectively improve the harmony of man-machine motion.
Description of drawings
Fig. 1 is the front view of ectoskeleton backrest and hip hookup.
Fig. 2 is Figure 1A-A cutaway view.
Fig. 3 is Figure 1B-B cutaway view.
Fig. 4 is waist backplate front view.
Fig. 5 is Fig. 4 A-A cutaway view.
Fig. 6 is one-level antivibrator positive view.
Fig. 7 is Fig. 6 top view.
Fig. 8 is secondary antivibrator positive view.
Fig. 9 is Fig. 8 top view.
The specific embodiment
(convenient for expressing in conjunction with Fig. 1, Fig. 1 has adopted irregular stagewise cutaway view) can see, waist backplate 100 is set in skeletal structure outside, by jackshaft 120 with backrest 200 and left and right hip structure 300 and 400 and waist backplate 100 link together, three translational degree of freedom and two rotational freedoms have been limited, only remaining waist backplate is with respect to the rotational freedom take jackshaft as rotation axis of left and right hip structure, and backrest is with respect to the rotational freedom take jackshaft as rotation axis of waist backplate, the vertical component that bears a heavy burden can pass through the jackshaft going down.
In order to limit the degree of freedom that relatively rotates between backrest, left and right hip structure and waist backplate, between backrest and left and right hip structure, the two-stage hookup is set, being wherein the one-level hookup between backrest and waist backplate, is the secondary hookup between waist backplate and left and right hip structure.Take jackshaft as symmetrical plane, be symmetrical set two one- level antivibrators 201 and 202 in the one-level hookup.One end of each antivibrator connects by bearing pin, and it is axial fixing that bearing pin adopts shaft block ring to carry out, and makes axial motion for preventing antivibrator along installation shaft, at two end faces of antivibrator oscillating bearing, a tapered sleeve is set respectively.
As shown in Figure 3, the main working parts of antivibrator is the dish spring of the mounted in pairs in stretching tube, can play the effect of absorbing buffering; Simultaneously, the compression stress of dish spring directly acts on backrest, and can make bears a heavy burden can only do small rotation with respect to jackshaft.The two ends of antivibrator are provided with oscillating bearing, for being threaded, can regulate arbitrarily two distances between bearing centre between the bearing block at two ends and antivibrator end plate, realize the accurate installation of antivibrator; Can overcome by the rotation of oscillating bearing simultaneously uneven problem between antivibrator two ends installation axis.
In secondary hookup between waist backplate and left and right hip structure, still take jackshaft as symmetrical plane, be symmetrical set two secondary antivibrators 301 and 302.One end of left side antivibrator is connected by bearing pin with left hip structure, and the other end of left side antivibrator is connected by bearing pin with left side mount pad on the waist backplate.One end of right side antivibrator is connected by bearing pin with right hip structure, and the other end of right side antivibrator is connected by bearing pin with right side mount pad on the waist backplate.It is axial fixing that bearing pin adopts shaft block ring to carry out, and at two end faces of antivibrator oscillating bearing, a tapered sleeve is set respectively, makes axial motion to prevent antivibrator along installation shaft.As shown in Figure 4: the secondary antivibrator is compared with the one-level antivibrator, and the stroke of secondary antivibrator is shorter, and locating distance is also shorter, but the support force that provides is consistent; All the other frame for movements of secondary antivibrator are identical with the one-level antivibrator.
Embodiment one
Adopt the structure of Fig. 1 and Fig. 2.Between ectoskeleton backrest and left and right hip structure, the waist backplate is set, by jackshaft, backrest and left and right hip structure and waist backplate is linked together.Between backrest and left and right hip structure, the two-stage hookup being set, is wherein the one-level hookup between backrest and waist backplate, is the secondary hookup between waist backplate and left and right hip structure.Left-right symmetric respectively arranges an one-level antivibrator in the one-level hookup; The left side antivibrator two ends respectively with the waist backplate on left mount pad the installing hole of being connected is connected by bearing pin with backrest, bearing pin adopts shaft block ring to carry out axial fixing, and the axial motion of a tapered sleeve restriction antivibrator respectively is set at two end faces of antivibrator oscillating bearing; The mounting means of right side antivibrator is identical with the left side antivibrator.Be the secondary hookup between waist backplate and left and right hip structure, left-right symmetric respectively arranges a secondary antivibrator; The two ends of left side antivibrator are connected by bearing pin with the left side mount pad that left hip structure is connected with the waist backplate respectively, and the two ends of right side antivibrator are connected by bearing pin with the right side mount pad that right hip structure is connected with the waist backplate respectively; Bearing pin adopts shaft block ring to carry out axial fixing, and the axial motion of a tapered sleeve restriction antivibrator respectively is set at two end faces of antivibrator oscillating bearing.
Embodiment two
Adopt the structure of Fig. 1 and Fig. 2.The waist backplate is set as intermediate junction device between ectoskeletal backrest and left and right hip, three's common center axle connects.The main body of waist backplate is backplate, adopts high-strength aluminum alloy 2A12 material manufacture; Paste with the human body waist for guaranteeing and, backplate two ends are the Rouno Cormer Pregrinding Wheel transition, are weight reduction, have six bar holes on backplate.For realizing and being connected of antivibrator, backplate is provided with four mount pads, and two, upper strata is used for and being connected of one-level antivibrator, two of lower floors for being connected of secondary antivibrator; Mount pad adopts high-strength aluminum alloy 2A12 to make, and is connected with adopting the mode of welding between backplate.
Claims (3)
1. an assistance type ectoskeleton is with backrest hip two-stage hookup, the buffering that is used in the ectoskeleton structure of man-machine carrying system between backrest and hip member connects, guarantee transmission and the man-machine motor coordination of external applied load, it is characterized in that, waist backplate (100) is set, be provided with the two-stage coupling arrangement on the waist backplate, one is used for connecting with backrest (200), comprise: an end of one-level antivibrator (201) is arranged on waist backplate (100), and its other end connects with the left side of backrest (200); One-level antivibrator (202) is symmetrical arranged, and connects with the right of backrest (200); Another coupling arrangement is used for connecting with the hip member, comprise: an end of secondary antivibrator (301) is arranged on waist backplate (100), its other end connects with left hip member (300), another secondary antivibrator (302) is symmetrical arranged, and connects with right hip member (400); Waist backplate (100) middle part arranges central shaft (120), and backrest (200), left hip member (300) and right hip member (400) are socketed on central shaft.
2. assistance type ectoskeleton according to claim 1 is with backrest hip two-stage hookup, it is characterized in that, described waist backplate (100) middle part arranges central shaft (120), backrest (200), left hip member (300) and right hip member (400) are socketed on central shaft (120), and can rotate by a small margin around central shaft (120).
3. assistance type ectoskeleton according to claim 1 is with backrest hip two-stage hookup, it is characterized in that, described one-level antivibrator mainly is made of oscillating bearing (1), bearing block (2), pull bar (3), end gear (4), stretching tube (5), dish spring (6), end gear (7), nut (8), bearing block (9), and oscillating bearing is installed on respectively in bearing block 1 and bearing block 2 by interference fit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310058596.6A CN103142332B (en) | 2013-02-25 | 2013-02-25 | Assistance type two-stage coupling device used between back frame and hip part of exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310058596.6A CN103142332B (en) | 2013-02-25 | 2013-02-25 | Assistance type two-stage coupling device used between back frame and hip part of exoskeleton |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103142332A true CN103142332A (en) | 2013-06-12 |
| CN103142332B CN103142332B (en) | 2014-12-24 |
Family
ID=48540861
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310058596.6A Expired - Fee Related CN103142332B (en) | 2013-02-25 | 2013-02-25 | Assistance type two-stage coupling device used between back frame and hip part of exoskeleton |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103142332B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105105896A (en) * | 2015-09-17 | 2015-12-02 | 武汉大学 | Adjusting device used for fixing wearable lower-limb exoskeleton robot and human body waist |
| WO2020108517A1 (en) * | 2018-11-28 | 2020-06-04 | 袁博 | Hip exoskeleton |
| CN112828861A (en) * | 2020-12-30 | 2021-05-25 | 中核四0四有限公司 | Three-level elastic connection suspension device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101175456A (en) * | 2005-04-13 | 2008-05-07 | 加利福尼亚大学董事会 | Semi-powered lower extremity exoskeleton |
| JP2012110497A (en) * | 2010-11-24 | 2012-06-14 | Kawasaki Heavy Ind Ltd | Wearable motion assistance device |
| CN102599998A (en) * | 2012-03-31 | 2012-07-25 | 中国人民解放军总后勤部军需装备研究所 | Mechanical human hip exoskeleton bearing device |
| CN203122695U (en) * | 2013-02-25 | 2013-08-14 | 西南交通大学 | Frame carrier hip part two-stage coupling device for assistance type exoskeleton |
-
2013
- 2013-02-25 CN CN201310058596.6A patent/CN103142332B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101175456A (en) * | 2005-04-13 | 2008-05-07 | 加利福尼亚大学董事会 | Semi-powered lower extremity exoskeleton |
| JP2012110497A (en) * | 2010-11-24 | 2012-06-14 | Kawasaki Heavy Ind Ltd | Wearable motion assistance device |
| CN102599998A (en) * | 2012-03-31 | 2012-07-25 | 中国人民解放军总后勤部军需装备研究所 | Mechanical human hip exoskeleton bearing device |
| CN203122695U (en) * | 2013-02-25 | 2013-08-14 | 西南交通大学 | Frame carrier hip part two-stage coupling device for assistance type exoskeleton |
Non-Patent Citations (1)
| Title |
|---|
| 刘放，程文明，邬钱涌: "基于缓冲结构设计的携行式外骨骼研究", 《机械设计与研究》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105105896A (en) * | 2015-09-17 | 2015-12-02 | 武汉大学 | Adjusting device used for fixing wearable lower-limb exoskeleton robot and human body waist |
| WO2020108517A1 (en) * | 2018-11-28 | 2020-06-04 | 袁博 | Hip exoskeleton |
| CN112828861A (en) * | 2020-12-30 | 2021-05-25 | 中核四0四有限公司 | Three-level elastic connection suspension device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103142332B (en) | 2014-12-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203122695U (en) | Frame carrier hip part two-stage coupling device for assistance type exoskeleton | |
| CN109848967B (en) | Bionic mechanical exoskeleton wearing device | |
| CA2706051A1 (en) | Vehicle suspension system | |
| CN103142332B (en) | Assistance type two-stage coupling device used between back frame and hip part of exoskeleton | |
| CN105992888A (en) | Assembly of a vibration damper associated with a wheel of a vehicle | |
| CN106737571B (en) | A kind of multidimensional vibration reduction tensioning entirety parallel institution | |
| CN104214484A (en) | Six-degree-of-freedom parallel mechanism vibration attenuation platform | |
| CN102793596A (en) | Dynamic knee joint, dynamic ankle joint prosthesis and dynamic lower-limb prosthesis | |
| CN206280434U (en) | A kind of agricultural machinery engineering damping device | |
| CN109319173B (en) | Movable lunar surface soft landing device | |
| CN107313642A (en) | Set up the inertia damping device of board-like viscid unit | |
| CN102758994B (en) | Dynamic hip joint prosthesis | |
| CN113197415A (en) | Ergonomic back frame with suspension burden reduction function and operation method | |
| CN105365514B (en) | A kind of suspension fork mechanism for two-wheeled leg mobile robot | |
| TWI576139B (en) | Reciprocating Bouncing Machine and Its Buffering Energy Saving Method | |
| CN104943765A (en) | Human-simulated ankle joint device with three degrees of freedom | |
| CN203183091U (en) | Assistance type ankle joint coupling device for external skeleton | |
| CN103991090B (en) | A kind of knuckle type industrial robot compensating cylinder | |
| RU2672214C1 (en) | Spring vibration isolator with dry friction | |
| CN112828861B (en) | Three-level elastic connection suspension device | |
| CN108327508A (en) | Installing component tectosome | |
| CN107878592B (en) | Independent suspension mechanism for four-foot robot | |
| CN103211670B (en) | Assistant exoskeleton ankle joint joining device | |
| RU2696049C1 (en) | Rear wheel suspension | |
| CN110237492A (en) | Treadmill |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141224 Termination date: 20180225 |