CN103142332B - Assistance type two-stage coupling device used between back frame and hip part of exoskeleton - Google Patents
Assistance type two-stage coupling device used between back frame and hip part of exoskeleton Download PDFInfo
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- CN103142332B CN103142332B CN201310058596.6A CN201310058596A CN103142332B CN 103142332 B CN103142332 B CN 103142332B CN 201310058596 A CN201310058596 A CN 201310058596A CN 103142332 B CN103142332 B CN 103142332B
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- backrest
- hip
- antivibrator
- back frame
- backplate
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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, particularly relate to and a kind ofly to stablize with hip be connected and the two-stage hookup that can reliably carry for the ectoskeletal backrest that realizes of assistance type.
Background technology
Oscillation phenomenon is the natural phenomena of every part engineering goods, and as wing fractures because of tremor, steel construction caves in because of resonance, and this calls unfavorable factor; And for example jigging conveyer, vibrator etc. is 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 bears vertical load at replacement human body, therefore tightly must be linked together by connecting device between ectoskeleton and human body.Like this during man-machine portable, bear a heavy burden and can cause vibration and impact phenomenon with the speed of human motion and acceleration.When man-machine portable walking, supporting mutually and swinging in the periodic movement of phase, man-machine barycenter has the motion feature of a dipping and heaving, rising or the heavy stage, bearing a heavy burden and 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 cadence and the increase of stride, the frequency in this dynamic load effect cycle also can increase, amplitude can become large, causes ectoskeletal vibratory impulse.
Simultaneously during man-machine walking movement, swing provides side to there will be relative to support-side and hangs hip phenomenon, namely when single foot supports, bear a heavy burden by this collateral support, the motion of opposite side then can not be restricted, otherwise the harmony that can affect between man-machine motion, this just requires that 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 analysis of the vibration that may be subject to ectoskeleton and percussion, and the impact between humans and machines harmony, require that the design between ectoskeletal backrest and hip structure should meet load bearing requirements, the decoupling zero of left and right hip can be realized again, meet the requirement of man-machine sports coordination.
In the research of current ectoskeleton frame for movement, emphasis concentrates on design and intensity, the stiffness analysis of lower limb load carrier, and the problem that often have ignored between backrest and hip, and from the achievement in research announced, usually backrest, left and right hip are connected as a whole, the carrying under person upright, static conditions can be realized, but the carrying of athletic postures such as such as walking then is not solved, and man-machine between coordination exercise do not realize.
The present invention proposes a kind of to stablize with hip be connected and the two-stage hookup that can reliably carry for the ectoskeletal backrest that realizes of assistance type newly, waist backplate is set between backrest and hip as intermediate junction device, and share a jackshaft, simultaneously at backrest and backplate, antivibrator is symmetrical arranged between backplate and hip structure, respectively three is reliably connected, and by the stretching action of antivibrator, the stability of heavy burden can be strengthened, effective reduction is born a heavy burden between man-machine moving period to the shock loading that ectoskeleton causes, the decoupling zero of the ectoskeleton left and right sides can be realized, the harmony of the man-machine motion of effective raising.
Summary of the invention
The object of the invention is to design a kind of a kind of new device being applied to ectoskeleton backrest and hip connection, the stability of heavy burden is strengthened under the effect of antivibrator, effective reduction is born a heavy burden between man-machine moving period to the shock loading that ectoskeleton causes, realize the decoupling zero of the ectoskeleton left and right sides, effectively improve the harmony of man-machine motion.
Realizing the technical scheme that the object of the invention adopts is:
A kind of assistance type ectoskeleton backrest hip two-stage hookup, connect for the buffering between backrest and hip component in the ectoskeleton structure of man-machine carrying system, ensure the transmission of external applied load and man-machine motor coordination, waist backplate 100 is set, waist backplate is provided with two-stage coupling arrangement, one is used for connecting with backrest 200, comprising: one 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 hip component, comprising: one end of secondary antivibrator 301 is arranged on waist backplate 100, and its other end connects with left hip component 300, and another secondary antivibrator 302 is symmetrical arranged, and connects with right hip component 400; Arrange central shaft 120 in the middle part of waist backplate 100, backrest 200, left hip component 300 and right hip component 400 are socketed on central shaft 120.
Arrange central shaft 120 in the middle part of waist backplate 100, backrest 200, left hip component 300 and right hip component 400 are socketed on central shaft 120, and can rotate by a small margin around central shaft 120.
Adopt structure as above, waist backplate is set between ectoskeletal backrest and hip as intermediate junction device, and share by three the degree of freedom constraint that a jackshaft tentatively realizes three translation directions and two rotation directions; In man-machine motor process, centre position is positioned at all the time in order to enable waist backplate and backrest, between backrest and waist backplate, be symmetrical set one-level antivibrator simultaneously, realize a level link, secondary antivibrator is symmetrical arranged between backplate and hip structure, realize two level links, and three is reliably connected for coupled structure simultaneously.
By this mode arranging two-stage hookup between the ectoskeletal backrest of assistance type and left and right hip and waist backplate, translation and the rotational freedom of three can be retrained, realize reliable and stable connection, make the heavy burden in backrest successfully to lower limb structure transmission, the stability of bearing a heavy burden can be strengthened; And by the stretching action of antivibrator, certain rotational freedom scope can be discharged, not only effectively can reduce and bear a heavy burden between man-machine moving period to the shock loading that ectoskeleton causes, the decoupling zero of the ectoskeleton left and right sides can also be realized, effectively improve the harmony of man-machine motion.
Accompanying drawing explanation
Fig. 1 is the front view of ectoskeleton backrest and hip hookup.
Fig. 2 is Figure 1A-A sectional view.
Fig. 3 is Figure 1B-B sectional view.
Fig. 4 is waist backplate front view.
Fig. 5 is Fig. 4 A-A sectional 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.
Detailed description of the invention
Composition graphs 1 is (convenient for expressing, Fig. 1 have employed irregular stagewise cutaway view) can see, waist backplate 100 is set in skeletal structure outside, by jackshaft 120, backrest 200 and left and right hip structure 300 and 400 and waist backplate 100 are linked together, limit three translational degree of freedom and two rotational freedoms, only remaining waist backplate take jackshaft as the rotational freedom of rotation axis relative to left and right hip structure, and backrest take jackshaft as the rotational freedom of rotation axis relative to waist backplate, the vertical component born a heavy burden is by jackshaft going down.
As shown in Figure 6, one-level antivibrator is formed primarily of oscillating bearing 1, bearing block 2, pull bar 3, terminal block 4, stretching tube 5, disc spring 6, terminal block 7, nut 8, bearing block 9, and oscillating bearing is installed in bearing block 2 and bearing block 9 respectively by interference fit.
In order to limit backrest, relatively rotate degree of freedom between left and right hip structure and waist backplate, between backrest and left and right hip structure, two-stage hookup is set, being wherein one-level hookup between backrest and waist backplate, is secondary hookup between waist backplate and left and right hip structure.Be symmetrical plane with jackshaft in one-level hookup, be symmetrical set two one-level antivibrators 201 and 202.One end of each antivibrator is connected by bearing pin, and bearing pin adopts shaft block ring to carry out axial fixing, and for preventing antivibrator from making axial motion along installation shaft, respectively arranges a tapered sleeve at two end faces of antivibrator oscillating bearing.
As shown in Figure 3, the main working parts of antivibrator is the disc spring of the mounted in pairs in stretching tube, can play the effect of absorbing buffering; Meanwhile, the compression stress of disc spring directly acts on backrest, and heavy burden can be made can only to do small rotation relative to jackshaft.The two ends of antivibrator are provided with oscillating bearing, the bearing block at two ends with between antivibrator end plate for being threaded, the distance between two bearing centres can be regulated arbitrarily, realize the accurate installation of antivibrator; Rotation simultaneously by oscillating bearing overcomes uneven problem between antivibrator two ends installation axis.
In secondary hookup between waist backplate and left and right hip structure, be still symmetrical plane with jackshaft, 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 the left side mount pad on 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 the right side mount pad on waist backplate.Bearing pin adopts shaft block ring to carry out axial fixing, and respectively arranges a tapered sleeve, make axial motion to prevent antivibrator along installation shaft at two end faces of antivibrator oscillating bearing.As shown in Figure 4: secondary antivibrator is compared with one-level antivibrator, and the stroke of secondary antivibrator is shorter, and locating distance is also shorter, but the support force provided is consistent; All the other frame for movements of secondary antivibrator are identical with one-level antivibrator.
Embodiment one
Adopt the structure of Fig. 1 and Fig. 2.Waist backplate is set between ectoskeleton backrest and left and right hip structure, by jackshaft, backrest and left and right hip structure and waist backplate is linked together.Between backrest and left and right hip structure, arrange two-stage hookup, be wherein one-level hookup between backrest and waist backplate, is secondary hookup between waist backplate and left and right hip structure.Symmetrical in one-level hookup an one-level antivibrator is respectively set; The two ends of left side antivibrator are connected by bearing pin with installing hole on the left of the left mount pad on waist backplate and backrest respectively, bearing pin adopts shaft block ring to carry out axial fixing, and respectively arranges the axial motion of a tapered sleeve restriction antivibrator at two end faces of antivibrator oscillating bearing; The mounting means of right side antivibrator is identical with left side antivibrator.Be secondary hookup between waist backplate and left and right hip structure, symmetrical a secondary antivibrator is respectively set; The two ends of left side antivibrator are connected by bearing pin with the left side mount pad on left hip structure and waist backplate respectively, and the two ends of right side antivibrator are connected by bearing pin with the right side mount pad on right hip structure and waist backplate respectively; Bearing pin adopts shaft block ring to carry out axial fixing, and respectively arranges the axial motion of a tapered sleeve restriction antivibrator at two end faces of antivibrator oscillating bearing.
Embodiment two
Adopt the structure of Fig. 1 and Fig. 2.Between ectoskeletal backrest and left and right hip, arrange waist backplate as intermediate junction device, three's common center axle connects.The main body of waist backplate is backplate, adopts high-strength aluminum alloy 2A12 material to manufacture; For ensure with human body waist pastes with, backplate two ends are Rouno Cormer Pregrinding Wheel transition, are weight reduction, backplate have six bar holes.For realizing the connection with antivibrator, backplate is provided with four mount pads, and two, upper strata is for the connection with one-level antivibrator, and lower floor two is for the connection with secondary antivibrator; Mount pad adopts high-strength aluminum alloy 2A12 to manufacture, and is connected with adopting the mode of welding between backplate.
Claims (3)
1. an assistance type ectoskeleton backrest hip two-stage hookup, connect for the buffering between backrest and hip component in the ectoskeleton structure of man-machine carrying system, ensure the transmission of external applied load and man-machine motor coordination, it is characterized in that, waist backplate (100) is set, waist backplate is provided with two-stage coupling arrangement, one is used for connecting with backrest (200), comprise: one 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 hip component, comprise: one end of secondary antivibrator (301) is arranged on waist backplate (100), its other end connects with left hip component (300), another secondary antivibrator (302) is symmetrical arranged, and connects with right hip component (400); Waist backplate (100) middle part arranges central shaft (120), and the socket of backrest (200), left hip component (300) and right hip component (400) on center shaft.
2. assistance type ectoskeleton backrest hip two-stage hookup according to claim 1, it is characterized in that, described waist backplate (100) middle part arranges central shaft (120), backrest (200), left hip component (300) and right hip component (400) are socketed on central shaft (120), and can rotate by a small margin around central shaft (120).
3. assistance type ectoskeleton backrest hip two-stage hookup according to claim 1, it is characterized in that, described one-level antivibrator is formed primarily of oscillating bearing (1), bearing block (2), pull bar (3), terminal block (4), stretching tube (5), disc spring (6), terminal block (7), nut (8), bearing block (9), and oscillating bearing is installed in bearing block (2) and bearing block (9) respectively 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 |
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| 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 |
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| Publication Number | Publication Date |
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| CN103142332A CN103142332A (en) | 2013-06-12 |
| CN103142332B true CN103142332B (en) | 2014-12-24 |
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| 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 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105105896B (en) * | 2015-09-17 | 2016-11-30 | 武汉大学 | For the adjusting means that wearable lower limb exoskeleton robot is fixing with human body waist |
| CN111615376B (en) * | 2018-11-28 | 2022-05-03 | 袁博 | Hip joint exoskeleton |
| CN112828861B (en) * | 2020-12-30 | 2022-03-22 | 中核四0四有限公司 | Three-level elastic connection suspension device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2604892C (en) * | 2005-04-13 | 2014-07-08 | The Regents Of The University Of California | Semi-powered lower extremity exoskeleton |
| JP5714874B2 (en) * | 2010-11-24 | 2015-05-07 | 川崎重工業株式会社 | Wearable motion support device |
| CN102599998B (en) * | 2012-03-31 | 2015-06-17 | 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 |
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