CN104440884B - A kind of hip adjustable length for human body lower limbs exoskeleton robot and work-saving device - Google Patents
A kind of hip adjustable length for human body lower limbs exoskeleton robot and work-saving device Download PDFInfo
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- CN104440884B CN104440884B CN201410730201.7A CN201410730201A CN104440884B CN 104440884 B CN104440884 B CN 104440884B CN 201410730201 A CN201410730201 A CN 201410730201A CN 104440884 B CN104440884 B CN 104440884B
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Abstract
The present invention relates to human body lower limbs exoskeleton robot, be specifically related to a kind of hip adjustable length for human body lower limbs exoskeleton robot and work-saving device, comprise anterior-posterior length adjusting device (1), left and right length adjustment device (3) and spring power-saving device (2), described anterior-posterior length adjusting device (1) is made up of jackscrew (5), hip joint regulating block (6) and screw (7); Described left and right length adjustment device (3) is made up of interior catch (9), axle (10) and outer baffle (11); Described spring power-saving device (2) is made up of blind hole and spring (12).The present invention can realize the ectoskeleton hip length unrestrictedly regulated, and the crowd being applicable to dressing is increased greatly, and comfort level is significantly increased, and adds resilient force-saving element, and make in the required consumption of wearer less, ectoskeleton flying power is stronger.
Description
Technical field
The present invention relates to human body lower limbs exoskeleton robot, be specifically related to a kind of hip adjustable length for human body lower limbs exoskeleton robot and work-saving device.
Background technology
Existing human body lower limbs exoskeleton robot, is applied to the jockey of hip, mainly there is following shortcoming:
1) existing ectoskeleton major part does not have length-adjustable device, for the improper person of figure, dresses comfort level not, very uncomfortable, also can affect walking.
2) small part ectoskeleton has length-adjustable device, but is bolted and regulates, and can only realize, according to certain adjustment hole interval, can not realizing changing length continuously, and it is convenient to be not bolted variation length.
3) ectoskeleton existed now there is no labour-saving elastic device, and this can make to dress and consume larger power, increases energy consumption, reduces cruising time.
Summary of the invention
The object of the present invention is to provide a kind of hip adjustable length for human body lower limbs exoskeleton robot and work-saving device, solve the problem that existing human body lower limbs exoskeleton robot hip cannot continue to regulate length and play power-saving function.
For solving above-mentioned technical problem, the present invention by the following technical solutions:
For hip adjustable length and the work-saving device of human body lower limbs exoskeleton robot, comprise anterior-posterior length adjusting device, left and right length adjustment device and spring power-saving device, described anterior-posterior length adjusting device is arranged between the hip curved support structure outer end of human body lower limbs exoskeleton robot and hip joint connector, described anterior-posterior length adjusting device is by jackscrew, hip joint regulating block and screw are formed, described hip joint regulating block is fixedly connected with hip joint connector, fixed by jackscrew after hip joint regulating block is inserted in the outer end of described hip curved support structure, described screw is screwed into from hip joint regulating block side, and coordinate the first bar shaped adjustment hole on hip curved support structure outer end to limit hip curved support structure and hip joint regulating block extreme position each other, described left and right length adjustment device is arranged between the hip curved support structure inner end about human body lower limbs exoskeleton robot, described left and right length adjustment device is made up of interior catch, axle and outer baffle, described interior catch is flexibly connected respectively by the inner end of the hip curved support structure of axle and left and right, described outer baffle is bar shaped, in its two ends are fixing with left and right respectively, catch chute is connected, and is fixed with spacing by the internal catch of the second bar shaped adjustment hole on axle cooperation outer baffle and outer baffle position each other, described spring power-saving device is made up of blind hole and spring, the bottom of described interior catch is provided with horizontal bench, the end face that hip curved support structure encloses the meeting of its bottom surface and horizontal bench when swaying contacts, described blind hole is separately positioned on described bottom surface and end face, and described spring-compressed is arranged between described blind hole.
Further technical scheme is, described interior catch has four pieces, and outer baffle has two pieces, and the two sides of described hip curved support structure are equipped with interior catch, and described outer baffle respectively chute is connected on the interior catch of both sides.
Compared with prior art, the invention has the beneficial effects as follows: the unrestricted ectoskeleton hip length regulated can be realized, the crowd being applicable to dressing is increased greatly, comfort level is significantly increased, and add resilient force-saving element, make in the required consumption of wearer less, ectoskeleton flying power is stronger.
Accompanying drawing explanation
Fig. 1 is that the present invention is a kind of for the hip adjustable length of human body lower limbs exoskeleton robot and the structural representation of work-saving device.
Fig. 2 is the STRUCTURE DECOMPOSITION figure of the adjusting device of anterior-posterior length described in the present invention.
Fig. 3 is the STRUCTURE DECOMPOSITION figure of the length adjustment device of left and right described in the present invention.
Fig. 4 is the STRUCTURE DECOMPOSITION figure of the device of spring power-saving described in the present invention.
Fig. 5 is A place structure enlarged diagram in Fig. 4.
In figure: 1-anterior-posterior length adjusting device, 2-spring power-saving device, about 3-length adjustment device, 4-hip curved support structure, 5-jackscrew, 6-hip joint regulating block, 7-screw, catch in 9-, 10-axle, 11-outer baffle, 12-spring, 13-hip joint connector, 14-first bar shaped adjustment hole, 15-second bar shaped adjustment hole.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, 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, be not intended to limit the present invention.
Fig. 1-Fig. 5 shows an embodiment of a kind of hip adjustable length for human body lower limbs exoskeleton robot of the present invention and work-saving device: a kind of hip adjustable length for human body lower limbs exoskeleton robot and work-saving device, comprise anterior-posterior length adjusting device 1, left and right length adjustment device 3 and spring power-saving device 2, described anterior-posterior length adjusting device 1 is arranged between hip curved support structure 4 outer end of human body lower limbs exoskeleton robot and hip joint connector 13, described anterior-posterior length adjusting device 1 is by jackscrew 5, hip joint regulating block 6 and screw 7 are formed, described hip joint regulating block 6 is fixedly connected with hip joint connector 13, fixed by jackscrew 5 after hip joint regulating block 6 is inserted in the outer end of described hip curved support structure 4, described screw 7 is screwed into from hip joint regulating block 6 side, and coordinate the first bar shaped adjustment hole 14 pairs of hip curved support structures 4 on hip curved support structure 4 outer end and hip joint regulating block 6 extreme position each other to limit, described left and right length adjustment device 3 is arranged between hip curved support structure 4 inner end about human body lower limbs exoskeleton robot, described left and right length adjustment device 3 is made up of interior catch 9, axle 10 and outer baffle 11, described interior catch 9 is flexibly connected respectively by the inner end of the hip curved support structure 4 of axle 10 and left and right, described outer baffle 11 is bar shaped, in its two ends are fixing with left and right respectively, catch 9 chute is connected, and coordinates the second bar shaped adjustment hole 15 on outer baffle 11 to limit interior catch 9 and outer baffle 11 extreme position each other by axle 10, described spring power-saving device 2 is made up of blind hole and spring 12, the bottom of described interior catch 9 is provided with horizontal bench, when hip curved support structure 4 is rotated around axle 10, the end face of the meeting of its bottom surface and horizontal bench contacts, described blind hole is separately positioned on described bottom surface and end face, and described spring 12 compression is arranged between described blind hole.
According to a preferred embodiment of a kind of hip adjustable length for human body lower limbs exoskeleton robot of the present invention and work-saving device, described interior catch 9 has four pieces, outer baffle 11 has two pieces, the two sides of described hip curved support structure 4 are equipped with interior catch 9, and described outer baffle 11 respectively chute is connected on the interior catch 9 of both sides.
The people that the present invention can adapt to the different bodily form dresses, when needing the adjustment according to before and after trapezoidal carrying out and left and right, can directly be regulated by anterior-posterior length adjusting device 1 and left and right length adjustment device 3, and can finely tune, unclamp by jackscrew, be adjusted to applicable length and tighten jackscrew, convenient and swift.And spring power-saving device 2, in use it can help human body to realize lifting the action of leg automatically, and again recovers impaction state by Action of Gravity Field by spring, storage power, to discharge when lifting leg next time.
Although with reference to multiple explanatory embodiment of the present invention, invention has been described here, but, should be appreciated that, those skilled in the art can design a lot of other amendment and embodiment, these amendments and embodiment will drop within spirit disclosed in the present application and spirit.More particularly, in the scope of, accompanying drawing open in the application and claim, multiple modification and improvement can be carried out to the building block of subject combination layout and/or layout.Except the distortion carried out building block and/or layout and improving, to those skilled in the art, other purposes also will be obvious.
Claims (2)
1. for hip adjustable length and the work-saving device of human body lower limbs exoskeleton robot, it is characterized in that: comprise anterior-posterior length adjusting device (1), left and right length adjustment device (3) and spring power-saving device (2);
Described anterior-posterior length adjusting device (1) is arranged between hip curved support structure (4) outer end of human body lower limbs exoskeleton robot and hip joint connector (13), described anterior-posterior length adjusting device (1) is by jackscrew (5), hip joint regulating block (6) and screw (7) are formed, described hip joint regulating block (6) is fixedly connected with hip joint connector (13), the outer end of described hip curved support structure (4) is fixed by jackscrew (5) after being inserted in hip joint regulating block (6), described screw (7) is screwed into from hip joint regulating block (6) side, and coordinate the first bar shaped adjustment hole (14) on hip curved support structure (4) outer end to limit hip curved support structure (4) and hip joint regulating block (6) extreme position each other,
Described left and right length adjustment device (3) is arranged between hip curved support structure (4) inner end about human body lower limbs exoskeleton robot, described left and right length adjustment device (3) is by interior catch (9), axle (10) and outer baffle (11) are formed, described interior catch (9) is flexibly connected respectively by the inner end of the hip curved support structure (4) of axle (10) and left and right, described outer baffle (11) is bar shaped, in its two ends are fixing with left and right respectively, catch (9) chute is connected, and internally catch (9) and outer baffle (11) position are each other fixed with spacing to coordinate the second bar shaped adjustment hole (15) on outer baffle (11) by axle (10),
Described spring power-saving device (2) is made up of blind hole and spring (12), the bottom of described interior catch (9) is provided with horizontal bench, when hip curved support structure (4) is rotated around axle (10), the end face of the meeting of its bottom surface and horizontal bench contacts, described blind hole is separately positioned on described bottom surface and end face, and described spring (12) compression is arranged between described blind hole.
2. a kind of hip adjustable length for human body lower limbs exoskeleton robot according to claim 1 and work-saving device, it is characterized in that: described interior catch (9) has four pieces, outer baffle (11) has two pieces, the two sides of described hip curved support structure (4) are equipped with interior catch (9), and described outer baffle (11) respectively chute is connected on the interior catch (9) of both sides.
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| CN201410730201.7A CN104440884B (en) | 2014-12-04 | 2014-12-04 | A kind of hip adjustable length for human body lower limbs exoskeleton robot and work-saving device |
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| CN201410730201.7A CN104440884B (en) | 2014-12-04 | 2014-12-04 | A kind of hip adjustable length for human body lower limbs exoskeleton robot and work-saving device |
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| CN104440884B true CN104440884B (en) | 2015-10-28 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105167963B (en) * | 2015-07-13 | 2017-05-17 | 北京理工大学 | Waist adjusting device for exoskeleton robot |
| CN105856194A (en) * | 2016-05-19 | 2016-08-17 | 成都润惠科技有限公司 | Bearing device for hip exoskeleton |
| CN106112990B (en) * | 2016-08-18 | 2018-09-28 | 黄河科技学院 | The lower limb exercise for depressurizing power-assisted machinery exoskeleton device supports exoskeleton mechanism |
| CN108839001A (en) * | 2018-09-03 | 2018-11-20 | 广州市海同机电设备有限公司 | Energy accumulated assisted ectoskeleton is adjusted in one kind |
| CN114986479A (en) * | 2018-11-28 | 2022-09-02 | 袁博 | Hip joint exoskeleton |
| CN110268862A (en) * | 2019-08-06 | 2019-09-24 | 电子科技大学 | A kind of feedback caging type picking head and its picking method |
| CN111388151A (en) * | 2020-03-23 | 2020-07-10 | 北京海益同展信息科技有限公司 | Hip joint adjusting assembly and lower limb exoskeleton robot |
| CN112716756A (en) * | 2020-10-28 | 2021-04-30 | 浙江大学台州研究院 | Multifunctional rehabilitation robot |
| CN113601489B (en) * | 2021-10-11 | 2021-12-28 | 北京动思创新科技有限公司 | Hip joint assistance exoskeleton |
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| CN2730338Y (en) * | 2004-08-10 | 2005-10-05 | 浙江大学 | Wearable lower limb dermoskeleton for walking use |
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Effective date of registration: 20170921 Address after: 610213 No. 2039, south section of Tianfu Road, Chengdu hi tech Zone, Sichuan Patentee after: BUFFALO ROBOT TECHNOLOGY (CHENGDU) Co.,Ltd. Address before: 610054, No. two, section four, Jianshe North Road, Chengdu, Sichuan, Chenghua District Co-patentee before: Cheng Hong Patentee before: Chengdu electronics great assets management Co.,Ltd. Effective date of registration: 20170921 Address after: 610054, No. two, section four, Jianshe North Road, Chengdu, Sichuan, Chenghua District Co-patentee after: Cheng Hong Patentee after: Chengdu electronics great assets management Co.,Ltd. Address before: 611731 Chengdu province high tech Zone (West) West source Avenue, No. 2006 Patentee before: University of Electronic Science and Technology of China |
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