CN104027224A - Elastic hip joint rotating device for exoskeleton robot - Google Patents
Elastic hip joint rotating device for exoskeleton robot Download PDFInfo
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- CN104027224A CN104027224A CN201410299212.4A CN201410299212A CN104027224A CN 104027224 A CN104027224 A CN 104027224A CN 201410299212 A CN201410299212 A CN 201410299212A CN 104027224 A CN104027224 A CN 104027224A
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- hip joint
- fixing head
- exoskeleton robot
- back fixing
- fixing plate
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Abstract
The invention relates to an exoskeleton robot, in particular to an elastic hip joint rotating device for the exoskeleton robot. The elastic hip joint rotating device comprises a hip joint fixing plate (1), a back fixing plate (2), an elastic steel disc (3) and a rotating pin (4). The hip joint fixing plate (1) and the back fixing plate (2) are mutually connected through the vertical rotating pin (4), the hip joint plate (1) and the back fixing plate (2) are connected on two outer sides of the rotating pin (4) through the elastic steel disc (3), and the elastic steel disc (3) is of a curved sheet with two ends respectively connected with the hip joint fixing plate (1) and the back fixing plate (2) and the middle bending outwards. By the arrangement, a user is enabled to turn freely in wearing the exoskeleton robot, and injuries of a turning mechanism in the free state to a human body can be avoided; in addition, the exoskeleton robot can automatically reset after completing turning or released, thereby being kept in the initial state so as to turn and be used again.
Description
Technical field
The present invention relates to exoskeleton robot, be specifically related to a kind of exoskeleton robot hip joint elastic rotation device.
Background technology
At present the hip joint of exoskeleton robot, mostly is fixed structure, and major part is can not be around vertical axial rotation, although and the higher hip joint of some costs can rotate can not position limitation protection and recover initial position.Can cause exoskeleton robot to turn or human body is lacked to protection, under individual cases, can cause king-sized injury to human body.
Summary of the invention
The object of the present invention is to provide a kind of exoskeleton robot hip joint elastic rotation device, solving existing exoskeleton robot hip joint can not rotate around vertical axes direction, and does not possess the problem of position limitation protection and auto-reset function.
For solving above-mentioned technical problem, the present invention is by the following technical solutions: a kind of exoskeleton robot hip joint elastic rotation device, comprise hip joint fixing head, back fixing head, spring steel plate and rotational pin, wherein said hip joint fixing head and described back fixing head interconnect by vertical rotational pin, described hip joint fixing head is connected in two outsides of rotational pin by spring steel plate with described back fixing head simultaneously, described spring steel plate is arc-shaped flaky, its two ends connect respectively hip joint fixing head and back fixing head, and middle part is outwardly-bent.
Further technical scheme is, described hip joint fixing head is connected to pick out with back fixing head and is provided with position-limited edge, and the rotational angle of the untie-sell that mutually rotates is by the spacing angle limits of position-limited edge.
Further technical scheme is, the two ends of described spring steel plate are connected with described back fixing head with described hip joint fixing head respectively by bolt.
Compared with prior art, the invention has the beneficial effects as follows: the present invention can allow user can freely turn in the time of wear exoskeleton robot, maximum angle can have 180 degree, and hip joint is merely able to rotate in the Notch angle outside limit part while turning to, avoid steering mechanism under free state, human body to be damaged; In addition, after having turned to or having unloaded, can automatically reset, allow exoskeleton robot keep original state, to again turn to and use.
Brief description of the drawings
Fig. 1 is a kind of exoskeleton robot the present invention relates to.
Fig. 2 is the partial enlarged drawing at A place in Fig. 1, is the structural representation of a preferred embodiment of a kind of exoskeleton robot hip joint of the present invention elastic rotation device.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
Fig. 1 and Fig. 2 show an embodiment of a kind of exoskeleton robot hip joint of the present invention elastic rotation device: a kind of exoskeleton robot hip joint elastic spacing tumbler, comprise hip joint fixing head 1, back fixing head 2, spring steel plate 3 and rotational pin 4, wherein said hip joint fixing head 1 and described back fixing head 2 interconnect by vertical rotational pin 4, described hip joint fixing head 1 is connected in two outsides of rotational pin 4 by spring steel plate 3 with described back fixing head 2 simultaneously, described spring steel plate 3 is arc-shaped flaky, its two ends connect respectively hip joint fixing head 1 and back fixing head 2, middle part is outwardly-bent.
A kind of exoskeleton robot hip joint of the present embodiment elastic rotation device due to be adopt rotational pin 4 connect hip joint fixing head 1 and back fixing head 2, and rotational pin 4 is vertical installations, the rotation of untie-sell 4 levels so hip joint fixing head 1 and back fixing head 2 can rotate; The dual-side of this external rotational pin 4 is provided with spring steel plate 3, this spring steel plate 3 does not limit hip joint fixing head 1 and back fixing head 2 rotation each other, but do not having under External Force Acting, the initial position state that hip joint fixing head 1 and back fixing head 2 can be replied by the elastic force effect of spring steel plate 3, to keep the position of hip joint fixing head 1 and back fixing head 2 all the time in a state easy to use.
An a kind of preferred embodiment of exoskeleton robot hip joint elastic rotation device according to the present invention: a kind of exoskeleton robot hip joint elastic spacing tumbler, comprise hip joint fixing head 1, back fixing head 2, spring steel plate 3 and rotational pin 4, wherein said hip joint fixing head 1 and described back fixing head 2 interconnect by vertical rotational pin 4, described hip joint fixing head 1 is connected in two outsides of rotational pin 4 by spring steel plate 3 with described back fixing head 2 simultaneously, described spring steel plate 3 is arc-shaped flaky, its two ends connect respectively hip joint fixing head 1 and back fixing head 2, middle part is outwardly-bent, described hip joint fixing head 1 is connected with back fixing head 2 to pick out and is provided with position-limited edge 5, mutually rotate the rotational angle of untie-sell 4 by the spacing angle limits of position-limited edge 5.
In the present embodiment; because hip joint fixing head 1 and back fixing head 2 connections are provided with position-limited edge 5; this position-limited edge 5 can be arranged on hip joint fixing head 1; also can be arranged on back fixing head 2; the angle that untie-sell 4 is rotated so hip joint fixing head 1 and back fixing head 2 rotate is restricted, and occurs under special circumstances significantly to twist with bending cause actual bodily harm for the protection of user.
Another preferred embodiment of a kind of exoskeleton robot hip joint elastic rotation device according to the present invention: a kind of exoskeleton robot hip joint elastic spacing tumbler, comprise hip joint fixing head 1, back fixing head 2, spring steel plate 3 and rotational pin 4, wherein said hip joint fixing head 1 and described back fixing head 2 interconnect by vertical rotational pin 4, described hip joint fixing head 1 is connected in two outsides of rotational pin 4 by spring steel plate 3 with described back fixing head 2 simultaneously, described spring steel plate 3 is arc-shaped flaky, its two ends connect respectively hip joint fixing head 1 and back fixing head 2, middle part is outwardly-bent, described hip joint fixing head 1 is connected with back fixing head 2 to pick out and is provided with position-limited edge 5, and the rotational angle of the untie-sell 4 that mutually rotates is by the spacing angle limits of position-limited edge 5, the two ends of described spring steel plate 3 are connected with described back fixing head 2 with described hip joint fixing head 1 respectively by bolt.
Claims (3)
1. an exoskeleton robot hip joint elastic rotation device, it is characterized in that: comprise hip joint fixing head (1), back fixing head (2), spring steel plate (3) and rotational pin (4), wherein said hip joint fixing head (1) and described back fixing head (2) interconnect by vertical rotational pin (4), described hip joint fixing head (1) is connected in two outsides of rotational pin (4) by spring steel plate (3) with described back fixing head (2) simultaneously, described spring steel plate (3) is arc-shaped flaky, its two ends connect respectively hip joint fixing head (1) and back fixing head (2), middle part is outwardly-bent.
2. a kind of exoskeleton robot hip joint elastic rotation device according to claim 1, it is characterized in that: described hip joint fixing head (1) is connected to pick out with back fixing head (2) and is provided with position-limited edge (5), and the rotational angle of the untie-sell (4) that mutually rotates is by the spacing angle limits of position-limited edge (5).
3. a kind of exoskeleton robot hip joint elastic rotation device according to claim 1, is characterized in that: the two ends of described spring steel plate (3) are connected with described back fixing head (2) with described hip joint fixing head (1) respectively by bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410299212.4A CN104027224A (en) | 2014-06-27 | 2014-06-27 | Elastic hip joint rotating device for exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410299212.4A CN104027224A (en) | 2014-06-27 | 2014-06-27 | Elastic hip joint rotating device for exoskeleton robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104027224A true CN104027224A (en) | 2014-09-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410299212.4A Pending CN104027224A (en) | 2014-06-27 | 2014-06-27 | Elastic hip joint rotating device for exoskeleton robot |
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| CN (1) | CN104027224A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104398368A (en) * | 2014-12-10 | 2015-03-11 | 电子科技大学 | Walking assistance outer skeleton robot with transversely-arranged motors |
| WO2016128877A1 (en) * | 2015-02-09 | 2016-08-18 | Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna | Actuation system for hip orthosis |
| CN109223450A (en) * | 2018-08-30 | 2019-01-18 | 广东宏穗晶科技服务有限公司 | A kind of robot convenient for patient's installation |
| CN111254067A (en) * | 2018-12-03 | 2020-06-09 | 长光华大基因测序设备（长春）有限公司 | Clamping positioner of biochip |
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| WO2010036791A1 (en) * | 2008-09-24 | 2010-04-01 | Berkeley Bionics | Hip and knee actuation systems for lower limb orthotic devices |
| US20120068422A1 (en) * | 2009-03-05 | 2012-03-22 | Katsuya Kanaoka | Two-Legged Walking Transportation Device |
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| CN202682285U (en) * | 2012-05-28 | 2013-01-23 | 西华大学 | External skeleton wearable type lower limb rehabilitation training robot device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104398368A (en) * | 2014-12-10 | 2015-03-11 | 电子科技大学 | Walking assistance outer skeleton robot with transversely-arranged motors |
| WO2016128877A1 (en) * | 2015-02-09 | 2016-08-18 | Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna | Actuation system for hip orthosis |
| US10603242B2 (en) | 2015-02-09 | 2020-03-31 | Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna | Actuation system for hip orthosis |
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| CN109223450A (en) * | 2018-08-30 | 2019-01-18 | 广东宏穗晶科技服务有限公司 | A kind of robot convenient for patient's installation |
| CN111254067A (en) * | 2018-12-03 | 2020-06-09 | 长光华大基因测序设备（长春）有限公司 | Clamping positioner of biochip |
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Application publication date: 20140910 |