CN105856194A - Bearing device for hip exoskeleton - Google Patents
Bearing device for hip exoskeleton Download PDFInfo
- Publication number
- CN105856194A CN105856194A CN201610334860.8A CN201610334860A CN105856194A CN 105856194 A CN105856194 A CN 105856194A CN 201610334860 A CN201610334860 A CN 201610334860A CN 105856194 A CN105856194 A CN 105856194A
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- China
- Prior art keywords
- hip
- component
- ectoskeleton
- hip component
- bogey
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a bearing device for a hip exoskeleton. The bearing device comprises a frame carrier, a supporting table and a hip portion which are sequentially arranged from top to bottom, wherein the lower end of the frame carrier is hinged to the upper end of the supporting table; the hip portion is hinged to the lower end of the supporting table; and a first spring and a second spring are symmetrically arranged between the two sides of the hip portion and the supporting table. The bearing device for the hip exoskeleton can effectively improve the harmony of human-machine movement in a load bearing state, proper in overall freedom degree, high in structural reliability, large in practical value and worthy of popularization in the industry.
Description
Technical field
The invention belongs to exoskeleton robot technical field, be specifically related to a kind of hip ectoskeleton bogey.
Background technology
In rescue and relief work or manpower are transported, human body needs to carry increasing equipment and goods and materials, so can affect human body
Gait of march, travel distance and maneuverability, therefore, various countries accelerate to develop the people's exoskeleton meeting ergonomics
Portable power assisting device, to help human body to reduce human consumption, improve the ability of being responsible for, endurance and human body maneuverability.
Ectoskeleton can be applicable to heavy burden power-assisted and rehabilitation power-assisted at present, and China is about the research of people's exoskeleton portable power assisting device
Start late, could not obtain mutually in terms of existing heavy burden ectoskeleton human body comfort in hip structure and reliability of structure
Coordinating, the DOF (degree of freedom) redundance that structure is arranged then can make movable part too much, thus structure is easily damaged by pressure by weight, and structure sets
The free degree put crosses the flexibility that can lack structure at least, thus reduces the comfortableness that human body is dressed.
Summary of the invention
Present invention aim to address the problems referred to above, it is provided that the hip ectoskeleton that a kind of structural reliability is high, man-machine harmony is good
Bogey.
For solving above-mentioned technical problem, the technical scheme is that a kind of hip ectoskeleton bogey, including by up to
Under set gradually backrest, support platform and hip, described backrest lower end is articulated with support platform upper end, and described hip is articulated with
Support the lower end of platform, between described hip both sides and support platform, be arranged with spring one and spring two.
Preferably, described hip includes the right hip component that is hinged and left hip component, and respectively with right hip component and left hip
The other end of component is hinged and structure is identical side hip component one and side hip component two, the lower end of described support platform is at described right hip
Pin joint between component and left hip component is hinged with right hip component and left hip component.
Preferably, described side hip component one includes right-hand member and is positioned at the bottom righthand side component below described right-hand member, described
Right-hand member one end is articulated with the end of described right hip component, and the other end is rotationally connected with described bottom righthand side component；Described side hip
Component two includes left-side member identical with right-hand member and bottom righthand side element structure respectively and left lower-end member, described left side structure
Part one end is articulated with the end of described left hip component, and the other end is rotationally connected with described left lower-end member, described bottom righthand side component
With left lower-end member for being connected with other parts of ectoskeleton.
Preferably, described left lower-end member includes that one side is the connector of inverted L shape, and the upper surface of described connector is provided with and turns
Axle, the side of described connector is provided with ring flange, and described left-side member is provided with through hole at the connection end of left lower-end member, institute
State rotating shaft to wear in through hole, and use nut to fix, make left lower-end member be rotationally connected with left-side member, described ring flange with
Other parts of ectoskeleton are connected, and described right-hand member, bottom righthand side component are tied with described left-side member, left lower-end member respectively
Structure is identical.
Preferably, the outside of described right hip component, left hip component, right-hand member and left-side member is equipped with groove, described
Groove is fixing for carrying out binding through bandage.
Preferably, at the connection end of described right hip component and left hip component, described left hip component is both sides depression intermediate projections knots
Structure, described right hip component is both sides projection intermediate recess structures, and described both sides depression intermediate projections structure is protruding with described both sides
The protruding end face of intermediate recess structure is identical with depression end surface shape, and described protruding end face is by an arc surface and with arc surface phase
Two plane one compositions cut, described depression end face is plane two.
Preferably, described plane one is 60 ° with horizontal plane angle.
Preferably, described support platform includes upper head plate, and two shapes being positioned at described upper head plate lower surface both sides are identical
Side plate, the lower end of described side plate is inverted-triangular and is hinged with right hip component and left hip component, described side plate and upper head plate
Between be provided with reinforcement, described spring one two ends are connected to upper head plate lower surface and right hip component, described spring two
Two ends are connected to upper head plate lower surface and left hip component, and described spring one and spring two are symmetrical arranged.
Preferably, described upper head plate and backrest lower end are equipped with connection sheet, use bearing pin to connect between described connection sheet.
The invention has the beneficial effects as follows: the hip ectoskeleton bogey that the present invention provides, arrange between backrest and hip and prop up
Support platform, reduces the direct impact to hip parts of the heavy burden load, and backrest and support platform support hinged, it is possible to achieve human body
Bending motion, supports between platform and hip while hinged, by arrange spring one and spring two to support platform and hip it
Between relative motion be balanced, be effectively increased the harmony of man-machine motion under loading conditions.This device free degree is suitable,
Structural reliability is high, and practical value is big, is worth popularization in the field of business.
Accompanying drawing explanation
Fig. 1 is hip ectoskeleton bogey schematic diagram of the present invention；
Fig. 2 is that the present invention supports platform and supporting structure schematic diagram；
Fig. 3 is that the present invention supports platform internal structure schematic diagram；
Fig. 4 is lower-left of the present invention end element structure schematic diagram.
Description of reference numerals: 1, backrest；2, platform is supported；3, spring one, 4, right hip component；5, left hip component；6, right
Side member；7, left-side member；8, bottom righthand side component；9, left lower-end member；10, spring two；11, connector；12, turn
Axle, 13, ring flange；200, plane two；210, arc surface；220；Plane one.
Detailed description of the invention
The present invention is described further with specific embodiment below in conjunction with the accompanying drawings:
As it is shown in figure 1, the hip ectoskeleton bogey schematic diagram of the present invention, including the backrest 1 from top to bottom set gradually,
Supporting platform 2 and hip, backrest 1 lower end is articulated with support platform 2 upper end, and hip is articulated with the lower end supporting platform 2, hip
It is arranged with spring 1 and spring 2 10 between both sides and support platform 2.
Hip includes right hip component 4, left hip component 5, side hip component one, side hip component two.Side hip component one includes right side structure
Part 6 and bottom righthand side component 8, side hip component two includes left-side member 7 and left lower-end member 9.Right-hand member 6 and left-side member
7 structures are identical, and bottom righthand side component 8 is identical with left lower-end member 9 structure, and connected mode is the most complete each other
Identical.One end of right hip component 4 and left hip component 5 is connected by bearing pin, mutually can rotate in perpendicular.Further
, support platform, right hip component and left hip component and connecting with same bearing pin.One end of right-hand member 6 and right hip component 4
The other end is connected by bearing pin, mutually can rotate in horizontal plane, it is achieved the motion of taking down the exhibits of the right hip of human body.Left-side member 7
One end is connected by bearing pin with the other end of left hip component 5, mutually can rotate in horizontal plane, it is achieved taking down the exhibits of the left hip of human body
Motion.Right hip component 4, left hip component 5, right-hand member 6 and left-side member 7 are monolithically fabricated the U-shape structure of a horizontal positioned.
Connection end between left hip component 5 and left-side member 7, between right hip component 4 and right-hand member 6 all uses circular arc to tie
Structure linking transition, to adapt to the arc of human body waist so that rod member more can be fitted the shape of hipbone.Bottom righthand side component 8
It is positioned at below right-hand member 6, is rotationally connected with the other end of right-hand member 6.Left lower-end member 9 is positioned at left-side member 7 times
Side, is rotationally connected with the other end of left-side member 7.Right hip component 4, left hip component 5, right-hand member 6 and left-side member
The outside of 7 is equipped with groove, and groove is fixing for carrying out binding through bandage.Obviously, hip may be used without other structures, but
Hip structure in the present embodiment, the free degree is suitable, and man-machine harmony is more preferable.
As Figure 2-3, the present invention supports platform and supporting structure schematic diagram and support platform internal structure schematic diagram.Support on platform
End face and be positioned at the side plate that two shapes of upper head plate lower surface both sides are identical.Upper surface is rectangle, and the lower end of side plate is in falling
Triangular form.The lower end of side plate is connected by same bearing pin with right hip component and left hip component.Between side plate and upper head plate, it is positioned at
Upper head plate lower surface dual-side is provided with two reinforcements, for improving the heavy burden ability supporting platform, improves the reliable of single unit system
Property.Quantity and the position of reinforcement are not limited to this.Spring 1 one end is connected to upper head plate lower surface, the other end and right hip
Component 4 hook connects.One end of spring 2 10 is connected to upper head plate following table, and the other end is connected with left hip component 5 hook, bullet
Spring 1 and spring 2 10 are symmetrical arranged.When having relative tilt between support platform 2 and hip, by spring 1 and spring
The effect of pullling of 2 10 can reduce support platform 2 and relative change in location amplitude between right hip component 4, left hip component 5, plays
Balanced action.Obviously, the quantity of spring can be not limited to above-mentioned two, can increase according to the actual requirements or reduce.It is worth saying
Bright, support platform 2 and be not limited to said structure, it is excessive that it is mainly used between backrest and hip, buffers load
Effect.The upper head plate and backrest 1 lower end that support platform 2 are equipped with connection sheet, connect and use bearing pin to connect between sheet, make backrest
And can mutually rotate between support platform, it is achieved human body back bending motion.Backrest 1 is used for loading with weight, its shape and structure
There is no any restriction.Can arrange groove in backrest, it is fixing that back bandage can carry out binding through groove, and weight can hang
On the groove of backrest.
Further, as it is shown on figure 3, at the connection end of right hip component 4 and left hip component 5, left hip component 4 is that both sides are recessed
Falling into intermediate projections structure, right hip component 5 is both sides projection intermediate recess structures.Both sides depression intermediate projections structure is convex with both sides
Play intermediate recess structure and constitute a position-limit mechanism, and its protruding end face is identical with depression end surface shape.Protruding end face is by a circular arc
Face 210 and being constituted with two planes 1 that arc surface is tangent, depression end face is plane 2 200.Plane one and horizontal plane
Angle is 60 °, and angle angle can adjust according to the actual requirements.Plane 1 can roll on arc surface 210, is limited to
The plane two 220 tangent with arc surface 210, can reduce the amplitude of variation of right hip component 4 and the left relative position of hip component 5,
Thus limit the significantly swing of hip.
As shown in Figure 4, lower-left of the present invention end element structure schematic diagram.Left lower-end member 9 is identical with bottom righthand side component 8 structure,
Now as a example by left lower-end member, the lower-end member in the present embodiment is described in detail.Bottom righthand side component 9 includes connecting
Part 11, rotating shaft 12 and ring flange 13.Connector be side be inverted L shape structure.Rotating shaft 12 is arranged at the upper end of connector
Face, ring flange is arranged at the side of connector, and rotating shaft 12 top is provided with screw thread.Left-side member 7 and the company of left lower-end member 9
Connecing and be provided with through hole at end, rotating shaft 12 wears in through hole, and uses nut to fix, and makes left lower-end member 9 and left-side member 7 turns
It is dynamically connected, it is achieved the rotary motion of hipbone.Ring flange 13 is fixing with ectoskeleton drive system to be connected, and can realize human body hip
The flexion and extension in portion.
Generally speaking, the hip ectoskeleton bogey that the present invention provides, support platform is set between backrest and hip, reduces
The directly impact to hip parts of the heavy burden load, and backrest and support platform support hinged, it is possible to achieve human body bending motion,
Support between platform and hip while hinged, by arranging spring one and the spring two relative fortune to supporting between platform and hip
Move and be balanced, be effectively increased the harmony of man-machine motion under responsible state.Further, left hip component and right hip component
Between position limiting structure is set, while making the more flexibility of hip structure, it is to avoid the amplitude of oscillation is excessive, improve ectoskeleton stability and
Security.Additionally, left/right hip component is hinged with left/right side member, the motion of taking down the exhibits of hipbone, structure on the downside of left/right can be realized
Part is rotationally connected with left/right side member, can realize the rotary motion of hipbone, and lower end ring flange can realize bending of hipbone
Stretch motion, all further increase man-machine between harmony.This device entirety free degree is suitable, and structural reliability is high, suitable
Good by property, practical value is big, is worth popularization in the field of business.
Those of ordinary skill in the art is it will be appreciated that embodiment described here is to aid in the reader understanding present invention's
Principle, it should be understood that protection scope of the present invention is not limited to such special statement and embodiment.This area common
It is various specifically that technical staff can make various other without departing from essence of the present invention according to these technology disclosed by the invention enlightenment
Deformation and combination, these deformation and combination are the most within the scope of the present invention.
Claims (9)
1. a hip ectoskeleton bogey, it is characterised in that: include the backrest (1) from top to bottom set gradually, support
Platform (2) and hip, described backrest (1) lower end is articulated with support platform (2) upper end, and described hip is articulated with support platform (2)
Lower end, described hip both sides and support and be arranged with spring one (3) and spring two (10) between platform (2).
Hip ectoskeleton bogey the most according to claim 1, it is characterised in that: described hip includes being hinged
Right hip component (4) and left hip component (5), and cut with scissors with the other end of right hip component (4) and left hip component (5) respectively
Connecing and side hip component one that structure is identical and side hip component two, the lower end of described support platform (2) is described right hip component (4)
With pin joint between left hip component (5) is hinged with right hip component (4) and left hip component (5).
Hip ectoskeleton bogey the most according to claim 2, it is characterised in that: described side hip component one includes the right side
Side member (6) and be positioned at described right-hand member (6) lower section bottom righthand side component (8), described right-hand member (6) one end cut with scissors
Being connected to the end of described right hip component (4), the other end is rotationally connected with described bottom righthand side component (8)；Described side hip component
Two include left-side member (7) identical with right-hand member (6) and bottom righthand side component (8) structure respectively and left lower-end member (9),
Described left-side member (7) one end is articulated with the end of described left hip component (5), the other end and described left lower-end member (9)
Being rotationally connected, described bottom righthand side component (8) is used for being connected with other parts of ectoskeleton with left lower-end member (9).
Hip ectoskeleton bogey the most according to claim 3, it is characterised in that: described left lower-end member (9)
Being the connector (11) of inverted L shape including one side, the upper surface of described connector (11) is provided with rotating shaft (12), described company
The side of fitting (11) is provided with ring flange (13), and described left-side member (7) sets at the connection end of left lower-end member (9)
There are through hole, described rotating shaft (12) to wear in through hole, and use nut to fix, make left lower-end member (9) and left-side member (7)
Being rotationally connected, described ring flange (13) is connected with other parts of ectoskeleton, described right-hand member (6), bottom righthand side component
(8) identical with described left-side member (7), left lower-end member (9) structure respectively.
Hip ectoskeleton bogey the most according to claim 3, it is characterised in that: described right hip component (4), a left side
The outside of hip component (5), right-hand member (6) and left-side member (7) is equipped with groove, and described groove is for through tying up
It is fixing that band carries out binding.
6. according to the arbitrary described hip ectoskeleton bogey of claim 2-5, it is characterised in that: described right hip component (4)
At the connection end of left hip component (5), described left hip component (5) is both sides depression intermediate projections structures, described right hip structure
Part (4) is both sides projection intermediate recess structures, described both sides depression intermediate projections structure and described both sides projection intermediate recess knot
The protruding end face of structure is identical with depression end surface shape, and described protruding end face is by an arc surface (210) and with arc surface (210)
Tangent two planes one (220) are constituted, and described depression end face is plane two (200).
Hip ectoskeleton bogey the most according to claim 6, it is characterised in that: described plane one (220) with
Horizontal plane angle is 60 °.
8. according to the arbitrary described hip ectoskeleton bogey of claim 2-5, it is characterised in that: described support platform (2)
Including rectangle upper head plate, and the side plate that two shapes being positioned at described upper head plate lower surface both sides are identical, under described side plate
End is hinged in inverted-triangular and with right hip component (4) and left hip component (5), is provided with between described side plate and upper head plate
Reinforcement, described spring one (3) two ends are connected to upper head plate lower surface and right hip component (4), described spring two (10)
Two ends be connected to upper head plate lower surface and left hip component (5), described spring one (3) and spring two (10) are symmetrical
Arrange.
Hip ectoskeleton bogey the most according to claim 8, it is characterised in that: described upper head plate and backrest (1)
Lower end is equipped with connection sheet, uses bearing pin to connect between described connection sheet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610334860.8A CN105856194A (en) | 2016-05-19 | 2016-05-19 | Bearing device for hip exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610334860.8A CN105856194A (en) | 2016-05-19 | 2016-05-19 | Bearing device for hip exoskeleton |
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| Publication Number | Publication Date |
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| CN105856194A true CN105856194A (en) | 2016-08-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610334860.8A Pending CN105856194A (en) | 2016-05-19 | 2016-05-19 | Bearing device for hip exoskeleton |
Country Status (1)
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| CN (1) | CN105856194A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108214457A (en) * | 2017-12-26 | 2018-06-29 | 北京理工大学 | A kind of passive work-saving device of trunk for lower limb exoskeleton |
| 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 |
| CN109986535A (en) * | 2017-12-29 | 2019-07-09 | 沈阳新松机器人自动化股份有限公司 | A kind of hip joint structure |
| CN110269784A (en) * | 2018-03-15 | 2019-09-24 | Lg电子株式会社 | Wearable auxiliary device |
| CN110575366A (en) * | 2019-09-19 | 2019-12-17 | 哈尔滨工业大学 | active and passive combined lower limb assistance exoskeleton robot |
| WO2020108517A1 (en) * | 2018-11-28 | 2020-06-04 | 袁博 | Hip exoskeleton |
| CN111360790A (en) * | 2020-03-26 | 2020-07-03 | 哈尔滨工业大学 | Passive upper limb assistance exoskeleton with gas spring energy storage function |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108214457A (en) * | 2017-12-26 | 2018-06-29 | 北京理工大学 | A kind of passive work-saving device of trunk for lower limb exoskeleton |
| CN108214457B (en) * | 2017-12-26 | 2020-09-22 | 北京理工大学 | Passive trunk labor-saving device for lower limb exoskeleton |
| CN109986535A (en) * | 2017-12-29 | 2019-07-09 | 沈阳新松机器人自动化股份有限公司 | A kind of hip joint structure |
| CN110269784A (en) * | 2018-03-15 | 2019-09-24 | Lg电子株式会社 | Wearable auxiliary device |
| 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 |
| WO2020108517A1 (en) * | 2018-11-28 | 2020-06-04 | 袁博 | Hip exoskeleton |
| CN110575366A (en) * | 2019-09-19 | 2019-12-17 | 哈尔滨工业大学 | active and passive combined lower limb assistance exoskeleton robot |
| CN110575366B (en) * | 2019-09-19 | 2022-01-18 | 哈尔滨工业大学 | Active and passive combined lower limb assistance exoskeleton robot |
| CN111360790A (en) * | 2020-03-26 | 2020-07-03 | 哈尔滨工业大学 | Passive upper limb assistance exoskeleton with gas spring energy storage function |
| CN111360790B (en) * | 2020-03-26 | 2023-04-14 | 哈尔滨工业大学 | Passive upper limb assistance exoskeleton with gas spring energy storage function |
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Application publication date: 20160817 |
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