CN106514628A - Wearable exoskeleton power assisting device - Google Patents
Wearable exoskeleton power assisting device Download PDFInfo
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- CN106514628A CN106514628A CN201611262888.1A CN201611262888A CN106514628A CN 106514628 A CN106514628 A CN 106514628A CN 201611262888 A CN201611262888 A CN 201611262888A CN 106514628 A CN106514628 A CN 106514628A
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- wheel
- hinge
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- arm
- tensioning
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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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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a wearable exoskeleton power assisting device. The wearable exoskeleton power assisting device comprises a body wearing piece and two executive devices. The two executive devices are connected through the body wearing piece. Each executive device comprises a haulage cable, a power device, a rotary joint and a fulcrum part. Each power device comprises a rack and a power unit. Each rotary joint comprises an upper joint part and a lower joint part. The upper portion of each upper joint part is fixedly connected with the corresponding rack, and the lower portion of each upper joint part is hinged to the upper portion of the corresponding lower joint part. Guide wheels and auxiliary reels are arranged in the upper joint parts, and the auxiliary reels are arranged at the hinged positions of the upper joint parts and the lower joint parts. Tensioning wheels and main winding wheels are arranged in the lower joint parts, and the fulcrum parts are fixed to the corresponding main winding wheels. The two ends of each haulage cable are fixed to the corresponding power unit and the main winding wheel separately. The middle parts of the haulage cables sequentially wind across the guide wheels, the auxiliary reels and the tensioning wheels from top to bottom. The wearable exoskeleton power assisting device has the advantages of being good in man-machine interaction, ingenious and portable in structure, sensitive in reaction and easy to operate.
Description
Technical field
The present invention relates to a kind of ESD, and in particular to a kind of Wearable ectoskeleton power assisting device.
Background technology
In recent years, the ectoskeletal research of Wearable is gradually risen, it is therefore an objective to will be the motility of people, wisdom and machine strong
Property is organically combined.Which is mainly used in the fields such as medical rehabilitation, commercial production, individual combat.
The various human body Wearable exoskeleton systems announced at present have a lot, and its function includes improving walking with load energy
Power, heavy material handling power-assisted, the upper and lower limb interruption of service rehabilitation of human body etc., function focuses mostly in human body assisted walk.Which is common
Feature is, under the support of power source, to feed back to control unit by sensor acquisition human body signal, patrolling through control unit
Collect after processing, assigning instruction makes power performance element execution, to realize corresponding function.Lower extremity movement trend can so be brought
Forecasting mechanism is designed, the formulation and enforcement of robot control strategy, and power source and light, efficient self-supporting energy source device etc. is
Row key issue.And these have problem to be solved to cause human body Wearable exoskeleton system realizing the mistake of corresponding function at present
Cheng Zhong, it is impossible to reach its preferable effect, while the manufacturing cost of costliness also makes which only reside within the scientific research stage, it is impossible to
It is widely used in commercial production.
The content of the invention
For technical problem present in prior art, the purpose of the present invention is：A kind of Wearable ectoskeleton power-assisted is provided
Device.
The purpose of the present invention is achieved through the following technical solutions：A kind of Wearable ectoskeleton power assisting device, matches somebody with somebody including body
Part and two performers are worn, two performers are worn part by body and coupled together, and performer includes hauling rope, moves
Power device, rotary joint and supporting point part, power device include frame and power unit, and rotary joint includes upper joint portion
With hypozygal portion, upper joint portion top is fixedly connected with frame, and upper joint subordinate portion is hinged with hypozygal portion top, upper joint
Directive wheel and secondary reel is provided with portion, and secondary reel is arranged on the hinged place in upper joint portion and hypozygal portion, hypozygal
Tensioning wheel and main winding wheel is provided with portion, and supporting point part is fixed on main winding wheel, and hauling rope two ends are respectively fixed to dynamic
On power unit and main winding wheel, in the middle part of hauling rope from top to bottom successively with directive wheel, secondary reel and tensioning wheel winding.
Preferably, the directive wheel includes directive wheel hinge, directive wheel hinge screw, is oriented to wheel body, directive wheel bearing
And two guiding wheel sleeves, two are oriented to wheel sleeve and arrange corresponding to the both sides of directive wheel bearing inner race, outside directive wheel bearing
Circle is fixed in guiding wheel body, and directive wheel hinge sequentially passes through a guiding wheel sleeve, directive wheel bearing and another directive wheel
Sleeve and directive wheel hinge two ends stretch out in upper joint portion, directive wheel hinge screw lock is on the screw of directive wheel hinge end
Make guiding wheel sleeve be directed to wheel bearing to be clamped in guiding wheel body.
Preferably, the secondary reel include secondary reel hinge, secondary coiling wheel body, secondary reel bearing, two it is secondary
Coiling wheel sleeve and two flange bearings, two flange bearing outer rings are connected on upper joint portion two side respectively, two pairs around
The relative both ends of the surface of line wheel sleeve correspond respectively to the inner ring both sides of secondary reel bearing and arrange, and two secondary coiling wheel sleeves are in addition
Both ends of the surface correspond respectively to the setting of two flange bearing inner rings, and secondary reel hinge sequentially passes through a flange bearing, a secondary reel
Sleeve, secondary reel bearing, another secondary coiling wheel sleeve and another flange bearing and secondary reel hinge two ends stretch out in
Joint portion, hypozygal portion are articulated with secondary reel hinge.
Preferably, the upper joint gag lever post for rotating clockwise scope for limiting upper joint portion is additionally provided with hypozygal portion
And for limiting the supporting point part gag lever post that supporting point part is rotated counterclockwise, upper joint gag lever post is arranged at upper joint portion up time
On the path that pin is rotated, supporting point part gag lever post is arranged on the path that supporting point part is rotated counterclockwise.
Preferably, the tensioning wheel includes tensioning wheel hinge, tensioning wheel hinge screw, tensioning wheel body, tension wheel shaft bearing
And two tensioning wheel sleeves, tension wheel shaft bearing outer-ring be fixed on tensioning wheel body in, two tensioning wheel sleeves corresponding to tensioning
The both sides of wheel bearing inner ring are arranged, and tension wheel shaft bearing outer-ring is fixed in tensioning wheel body, and tensioning wheel hinge sequentially passes through one
Bearing up pulley sleeve, tension wheel shaft bearing and another tensioning wheel sleeve and tensioning wheel hinge two ends stretch out in hypozygal portion, tensioning wheel hinge
Axle screw is lock onto on the screw of tensioning wheel hinge end makes tensioning wheel sleeve that tension wheel shaft bearing is clamped in tensioning wheel body.
Preferably, the main winding wheel includes main kinking wheel body, main winding wheel hinge, main kinking wheel bearing, main kinking
Wheel sleeve and external fixture, two main kinking wheel sleeves are arranged corresponding to the both sides of main winding wheel bearing inner race, main kinking
Wheel shaft bearing outer-ring is fixed in main kinking wheel body, and main winding wheel hinge sequentially passes through a main kinking wheel sleeve, main kinking wheel shaft
Hold and another main kinking wheel sleeve and main winding wheel hinge two ends stretch out in hypozygal portion, external fixture is fixedly connected on master
On kinking wheel body, supporting point part is fixed on external fixture.
Preferably, the external fixture includes external fixed block and two external fixed plates, two external fixed plates
It is fixedly connected on main kinking wheel body two sides, between two external fixed plates, forms installation cavity, external fixed block is fixed and set
It is placed in installation cavity, on external fixed block, longitudinally offers hinge hole；
The supporting point part includes leg baffle plate, supporting point part articulated section and supporting point part jointed shaft, supporting point part hinge
Socket part is located at leg baffle plate top, and supporting point part articulated section longitudinally offers and is hinged through hole, and supporting point part jointed shaft is connected to hinge
Connect in hole and hinge hole, leg baffle plate bottom is provided with the cambered surface gripper shoe that can be closed with matching form on front side of thigh.
Preferably, described two performers or so are arranged, and the secondary reel for being provided with the performer in left side sets
Directive wheel lower right is placed in, tensioning wheel is located at secondary reel lower right, and main winding wheel then in the lower right of tensioning wheel, is arranged on a left side
The hauling rope of the performer of side is stretched into from above directive wheel and respectively successively around being set to directive wheel lower left quarter, secondary reel bottom
And on tensioning wheel upper right quarter；
The secondary reel for being arranged on the performer on right side is arranged at directive wheel lower left, and it is left that tensioning wheel is located at secondary reel
Lower section, then in the lower left of tensioning wheel, the hauling rope for being arranged on the performer in left side is stretched into from above directive wheel main winding wheel
And respectively successively around being set on directive wheel right lower quadrant, secondary reel bottom and tensioning wheel upper left quarter；
Wire casing is offered on the main winding wheel outer circumference surface, and the one end of wire casing offers rope fastening hole, hauling rope
Winding is in wire casing and hauling rope end is fixed in rope fastening hole.
Preferably, the power unit includes pneumatic means and hauling rope tightening system, and hauling rope tightening system includes
Arm-tie, latch segment, neck bush, spring, arm-tie column and lead column, pneumatic means and lead column are individually fixed in frame,
Arm-tie two ends are connected with lead column, and hauling rope is fixed on lock from the bottom up through after arm-tie, arm-tie column, spring and neck bush
On tight block, neck bush top is protruding with flange, and spring is socketed on arm-tie column and neck bush, and spring one end is connect with arm-tie
Touch, the other end and Hp contacts, pneumatic means clutch end is connected on arm-tie.
Preferably, the body wear part include Braces hanged over tow shoulders, brace connecting plate, back elasticity arm-tie, arm-tie connecting seat,
Backboard connecting seat, back fixation plate, pull bar and belt, two brace bottoms of Braces hanged over tow shoulders are respectively fixedly connected with two dynamic equipments
In the frame of part, two brace tops of Braces hanged over tow shoulders are individually fixed on brace connecting plate, and brace connecting plate is fixed on back bullet
Property arm-tie top, back elasticity arm-tie lower hinge on back fixation plate, arm-tie connecting seat be arranged at back elasticity arm-tie on,
Backboard connecting seat is fixed on back fixation plate, and pull bar two ends are respectively hinged on arm-tie connecting seat and backboard connecting seat, back
Fixed plate is fixed in the frame of two power devices, and belt both sides are individually fixed in the hypozygal portion of two performers.
The present invention is had the following advantages relative to prior art and effect：
1st, the present invention have the advantages that man-machine interaction is good, structure it is dexterous it is light, be quick on the draw and easily operated, can reach
Good power-assisted effect, can effectively improve work efficiency, the composite can be widely applied to, in each field, to reach using pneumatic muscle
To safe and efficient explosion-proof effect, during use, interference is not produced to human motion, such as：Normal walking to people is not produced
Hinder, the frame of the present invention, supporting point part, upper joint portion, hypozygal portion etc. are manufactured using aluminium alloy, and this causes tool of the present invention
Have the advantages that lightweight, intensity is high, the present invention also has applied range, safe and reliable, long service life, noise little and system
Make the advantage of low cost.
Description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the structural representation at Fig. 1 rear portions.
Fig. 3 is the structural representation when performer for being arranged on right side of the invention is upright.
Fig. 4 is the structural representation of the performer that the present invention is arranged on left side.
Fig. 5 is that Fig. 3 bends schematic diagram when waist does not bend lifting goods in thigh.
Fig. 6 is schematic diagrams of the Fig. 3 when leg vertical of bending over lifts goods.
Fig. 7 is Fig. 3 in schematic diagram when lifting goods with thigh bending of bending over.
Fig. 8 is the annexation schematic diagram in the upper joint portion and hypozygal portion of the present invention.
Fig. 9 is the explosive view of Fig. 8.
Figure 10 is the hypozygal portion structural representation of the present invention.
Figure 11 is the explosive view of Figure 10.
Figure 12 is the schematic diagram that the pneumatic means of the present invention is connected with hauling rope tightening system.
Figure 13 is the installation relation schematic diagram of the supporting point part with main winding wheel of the present invention.
Figure 14 is the structural representation of the main kinking wheel body of the present invention.
Figure 15 is the sectional view of the main kinking wheel body of the present invention.
Figure 16 is the schematic diagram after the present invention wears.
Wherein, 1- performers, 2- hauling ropes, 3- power devices, 4- supporting point parts, 5- frames, 6- power units, on 7-
Joint portion, 8- hypozygals portion, 9- directive wheels, 10- pair reels, 11- tensioning wheels, the main winding wheels of 12-, 13- directive wheel hinges,
14- directive wheel hinge screws, 15- guiding wheel bodies, 16- directive wheel bearings, 17- guiding wheel sleeves, 18- pair reel hinges,
19- pair coiling wheel bodies, 20- pair reel bearings, 21- pair coiling wheel sleeves, 22- flange bearings, 23- upper joint gag lever posts,
24- supporting point part gag lever posts, 25- tensioning wheel hinges, 26- tensioning wheel hinge screws, 27- tensioning wheel bodies, 28- tension wheel shafts
Hold, 29- tensioning wheel sleeves, the main kinking wheel bodies of 30-, the main winding wheel hinges of 31-, the main kinking wheel bearings of 32-, the main winding wheels of 33-
Copper sheathing, the external fixed blocks of 34-, the external fixed plates of 35-, 36- hinge holes, 37- legs baffle plate, 38- supporting point part jointed shafts, 39-
Through hole is hinged, 40- cambered surface gripper shoes, 41- pneumatic means, 42- arm-ties, 43- latch segments, 44- neck bush, 45- springs, 46- are drawn
Plate column, 47- lead columns, 48- Braces hanged over tow shoulders, 49- brace connecting plates, 50- backs elasticity arm-tie, 51- back fixation plates, 52-
Pull bar, 53- belts, 54- wire casings and 55- rope fastening holes.
Specific embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited
In this.
Embodiment one：
As shown in Fig. 1-7 and Figure 16：A kind of Wearable ectoskeleton power assisting device, including body wear part, control system with
And two performers 1, two performers wear part by body and couple together, and two performers include hauling rope 2, dynamic
Power device 3, rotary joint and the supporting point part 4 on leg is worn, power device 3 includes frame 5 and power unit 6,
Control system is connected with power unit 6, and for controlling the opening and closing of power unit 6, rotary joint includes upper joint portion 7 and hypozygal
Portion 8,7 top of upper joint portion are fixedly connected with frame 5, and 7 bottom of upper joint portion is hinged with 8 top of hypozygal portion, upper joint portion 7
In be provided with directive wheel 9 and secondary reel 10, secondary reel is arranged on upper joint portion 7 and the hinged place in hypozygal portion 8, ShiShimonoseki
Tensioning wheel 11 and main winding wheel 12 is provided with section portion 8, supporting point part 4 is fixed on main winding wheel 12,2 two ends of hauling rope point
Be not fixed on power unit 6 and main winding wheel 12, in the middle part of hauling rope 2 from top to bottom successively with directive wheel 9, secondary reel 10 with
And 11 winding of tensioning wheel.
As shown in Figure 8 and Figure 9：Preferably, the directive wheel 9 includes directive wheel hinge 13, directive wheel hinge screw 14, leads
To wheel body 15, directive wheel bearing 16 and two guiding wheel sleeves 17, two are oriented to wheel sleeve 17 and correspond to directive wheel bearing
The both sides of 16 inner rings are arranged, and 16 outer ring of directive wheel bearing is fixed in guiding wheel body 15, and directive wheel hinge 13 sequentially passes through which
In one be oriented to wheel sleeve 17, directive wheel bearing 16 and another guiding wheel sleeve 17 and 13 two ends of directive wheel hinge stretch out in pass
Section portion 7, directive wheel hinge screw 14 is lock onto on the screw of 13 end of directive wheel hinge makes guiding wheel sleeve 17 be directed to wheel shaft
Hold 16 to be clamped in guiding wheel body 15.
As shown in Figure 8 and Figure 9：Preferably, the secondary reel 10 includes secondary reel hinge 18, secondary coiling wheel body
19th, secondary 20, two secondary coiling wheel sleeves 21 of reel bearing and two flange bearings 22, two flange bearings, 22 outer ring is worn respectively
It is connected on 7 two side of upper joint portion, two relative both ends of the surface of secondary coiling wheel sleeve 21 correspond respectively to secondary reel bearing 20
Inner ring both sides arrange, two secondary 21 other both ends of the surface of coiling wheel sleeve correspond respectively to the setting of two flange bearings, 22 inner ring, secondary
Reel hinge 18 sequentially passes through 22, one secondary coiling wheel sleeve 21 of a flange bearing, secondary reel bearing 20, another secondary reel
Sleeve 21 and another flange bearing 22 and secondary 18 two ends of reel hinge stretch out in upper joint portion 7, hypozygal portion 8 is articulated with pair
On reel hinge 18.
As shown in fig. 3 to 7, it is preferred that be additionally provided with hypozygal portion 8 and rotate clockwise scope for limiting upper joint portion 7
Upper joint gag lever post 23 and for limiting the supporting point part gag lever post 24 that supporting point part 4 is rotated counterclockwise, upper joint is spacing
Bar 23 is arranged on the path that upper joint portion 7 rotates clockwise, and supporting point part gag lever post 24 is arranged at supporting point part 4 and turns counterclockwise
On dynamic path.
As shown in figure 11：Preferably, the tensioning wheel 11 includes tensioning wheel hinge 25, tensioning wheel hinge screw 26, tensioning
Wheel body 27, tension wheel shaft bearing 28 and two tensioning wheel sleeves 29, tensioning wheel body 27 is fixed in 28 outer ring of tension wheel shaft bearing
In, two tensioning wheel sleeves 29 are arranged corresponding to the both sides of 28 inner ring of tension wheel shaft bearing, and 28 outer ring of tension wheel shaft bearing is fixed on and is opened
In bearing up pulley main body 27, tensioning wheel hinge 25 sequentially passes through a tensioning wheel sleeve 29, tension wheel shaft bearing 28 and another tensioning wheel case
Cylinder 29 and 25 two ends of tensioning wheel hinge stretch out in hypozygal portion 8, tensioning wheel hinge screw 26 lock onto 25 end of tensioning wheel hinge
Screw on make tensioning wheel sleeve 29 by tension wheel shaft bearing 28 be clamped in tensioning wheel body 27 in.
As shown in FIG. 10 and 11：Preferably, the main winding wheel include main kinking wheel body 30, main winding wheel hinge 31,
Main kinking wheel bearing 32, main kinking wheel sleeve 33 and external fixture, two main kinking wheel sleeves 33 correspond to main winding wheel
The both sides of 32 inner ring of bearing are arranged, and main 32 outer ring of kinking wheel bearing is fixed in main kinking wheel body 30, main winding wheel hinge 31
Sequentially pass through wherein one main kinking wheel sleeve 33, main kinking wheel bearing 32 and another main kinking wheel sleeve 33 and main winding wheel hinge
31 two ends of axle stretch out in hypozygal portion 8, and external fixture is fixedly connected on main kinking wheel body 30, and supporting point part 4 is fixed on
On external fixture.
As shown in Figure 10 and Figure 11：Preferably, the external fixture include external fixed block 34 and two it is external solid
Fixed board 35, two external fixed plates 35 are fixedly connected on main 30 two sides of kinking wheel body, between two external fixed plates 35
Installation cavity is formed, external fixed block 34 is fixedly installed in installation cavity, longitudinally offers hinge hole 36 on external fixed block 34；
As shown in Fig. 1-7 and Figure 13 and Figure 16：The supporting point part include leg baffle plate 37, supporting point part articulated section and
Supporting point part jointed shaft 38, supporting point part hinge point longitudinally open up hinged in 37 top of leg baffle plate, supporting point part articulated section
Hole 39 is connected, supporting point part jointed shaft 38 is connected to and is hinged in through hole 39 and hinge hole 36, and baffle plate 37 bottom in leg is provided with energy
The cambered surface gripper shoe 40 closed with matching form on front side of thigh.
As shown in Fig. 1-7 and Figure 16, it is preferred that described two performers 1 or so are arranged, and are provided with holding in left side
The secondary reel 10 of row device 1 is arranged at 9 lower right of directive wheel, and tensioning wheel 11 is located at secondary 10 lower right of reel, main winding wheel
12 lower rights in tensioning wheel 11, the hauling rope 2 for being arranged on the performer 1 in left side are stretched into from above directive wheel 9 and difference
Successively around being set on 9 lower left quarter of directive wheel, secondary 11 upper right quarter of 10 bottom of reel and tensioning wheel；
As shown in Fig. 1,2,4 and 16：The secondary reel 10 for being arranged on the performer 1 on right side is arranged at 9 lower-left of directive wheel
Side, tensioning wheel 11 are located at secondary 10 lower left of reel, and main winding wheel 12 then in the lower left of tensioning wheel 11, is arranged on holding for left side
The hauling rope 2 of row device 1 is stretched into from above directive wheel 9 and respectively successively around being set to 9 right lower quadrant of directive wheel, secondary 10 bottom of reel
And on 11 upper left quarter of tensioning wheel.
As shown in Fig. 1,2,12 and 16：Preferably, the power unit 6 includes that pneumatic means 41 and hauling rope tighten up machine
Structure, hauling rope tightening system include arm-tie 42, latch segment 43, neck bush 44, spring 45, arm-tie column 46 and lead column 47,
Pneumatic means 41 and lead column 47 are individually fixed in frame 5, and 42 two ends of arm-tie are connected with lead column 47, and hauling rope 2 is from lower past
On be fixed on latch segment 43 through after arm-tie 42, arm-tie column 46, spring 45 and neck bush 44,44 top of neck bush
Be protruding with flange, spring 45 is socketed on arm-tie column 46 and neck bush 44,45 one end of spring is contacted with arm-tie 42, the other end with
Hp contacts, 41 clutch end of pneumatic means are connected on arm-tie 42, and the pneumatic means 41 is pneumatic muscle.
As shown in Fig. 1-7 and Figure 16：Preferably, the body wears part includes Braces hanged over tow shoulders 48, brace connecting plate 49, the back of the body
Portion's elasticity arm-tie 50, arm-tie connecting seat, backboard connecting seat, back fixation plate 51, pull bar 52 and belt 53, Braces hanged over tow shoulders 48
Two brace bottoms are respectively fixedly connected with the frame 5 of two power devices 3, and two brace tops of Braces hanged over tow shoulders 48 are individually fixed in
On brace connecting plate 49, brace connecting plate 49 is fixed on back elasticity arm-tie 50 top, back elasticity 50 lower hinge of arm-tie in
On back fixation plate 51, arm-tie connecting seat is arranged on the elasticity arm-tie 50 of back, and backboard connecting seat is fixed on back fixation plate 51
On, 52 two ends of pull bar are respectively hinged on arm-tie connecting seat and backboard connecting seat, and back fixation plate 51 is fixed on two power devices 3
Frame 5 on, 53 both sides of belt are individually fixed in the hypozygal portion 8 of two performers 1.
As shown in Fig. 3-7, Figure 11, Figure 13, Figure 14 and Figure 15：Open up wired on main 30 outer circumference surface of kinking wheel body
Groove 54, the one end of wire casing 54 offer rope fastening hole 55, and 2 winding of hauling rope is in wire casing 54 and 2 end of hauling rope is fixed
In rope fastening hole 55.
The course of work and operation principle of the present invention：During use, worn first, two braces of Braces hanged over tow shoulders are worn respectively
Enter on both shoulders, belt is matched somebody with somebody and is applied to waist, while two cambered surface gripper shoes is coupled on front side of thigh, it is in the middle part of the baffle plate of leg and upper
Portion is then located at thigh both sides, completes to wear.
After the completion of wearing, people is upright, and now, upper joint portion is contacted with upper joint gag lever post, i.e., upper joint portion is in suitable
On the extreme position of hour hands rotation, and supporting point part is also contacted with supporting point part gag lever post, i.e., supporting point part is in rotation counterclockwise
On the extreme position for turning.Such setting is advantageous in that and can prevent people from being produced hypsokinesis after upright due to heavy burden or being fallen backward
Situation occurs, and improves safety, meanwhile, it is also beneficial to not wear the fixation that fashionable dress puts form, it is convenient to transport.
Lift goods using the present invention and can be performed by following three kinds of modes when putting down goods：
First kind of way, by a small margin during lifting goods：Thigh bending upper body declines and waist does not bend, when thigh bends,
Two thighs drive upper joint portion to rotate clockwise by two cambered surface gripper shoes respectively, and now, the rotation in upper joint portion drives master
Kinking wheel body is rotated clockwise, and main winding wheel body rotation winds hauling rope, and the hauling rope other end is driven interior by latch segment
Bushing is moved down, spring contraction, realizes the unwrapping wire (the hauling rope unwrapping wire limit is contacted with arm-tie column for neck bush) of hauling rope, when making
After user grabs steady goods, control system control power unit start, power unit shrink pull arm-tie rise, when arm-tie column with
When neck bush is contacted, arm-tie column drives neck bush to move up, and hauling rope take-up, the hauling rope other end drive main winding wheel master
Body is rotated counterclockwise, and now, two cambered surface gripper shoes are produced to thigh and overcome goods gravity thigh is turned to and body erect
Thrust F1, orders about body rising, lifts the purpose of goods so as to reach auxiliary user.When thigh is with body erect, this
It is bright to recover to original state, i.e. supporting point part to rotate counterclockwise to contact with supporting point part gag lever post on extreme position, prevent from propping up
Point part rotate counterclockwise excessively causes thigh to be still subject to the pressure of supporting point part, the normal walking of impact or thigh after upright
Motion.
The second way, bends over to lift goods：When bending over, leg is kept upright, as leg does not bend, two cambered surfaces
Gripper shoe is pressed on thigh, therefore, main winding wheel does not produce rotation, therefore, main winding wheel is solid by one end of hauling rope at this moment
Surely get up, when bending over, both shoulders are by driving back fixation plate so as to the frame for driving two power devices is moved forward for people, i.e.
The frame of two power devices drives upper joint portion to rotate counterclockwise, and now, upper joint portion is rotated around secondary reel hinge, therefore,
Hauling rope is wound on secondary coiling wheel body, (is rotated counterclockwise) when frame is rotated forward, and the other end of hauling rope pulls liner
Set is moved down and makes spring contraction to compensate the hauling rope length for being wound on secondary coiling wheel body, when waist bends in place and user is grabbed surely
After goods, control system control power unit starts, and power unit shrinks and pulls arm-tie to rise, when arm-tie column is socketed with liner
When tactile, arm-tie column drives neck bush to move up along lead column, as two cambered surface gripper shoes are pressed on thigh, now main kinking
One end of hauling rope is fixed up by wheel, therefore, in the case where power unit is persistently pulled, the other end of hauling rope obtains main winding wheel
The counteracting force for bringing, make gantry rotation and by Braces hanged over tow shoulders to shoulder apply can overcome goods gravity make waist turn to
The pulling force F2 of leg vertical, so that the upper part of the body of body is rotated clockwise and erected, reaches the mesh that goods is lifted by auxiliary
, when human body recovers upright, upper joint portion is contacted with upper joint gag lever post, i.e. pole of the upper joint portion in turning clockwise
In extreme position, prevent from excessively causing human body situation backward to occur as upper joint portion and frame turn clockwise.
The third mode, bends over to lift goods with thigh bending：As waist and thigh are bent simultaneously, two thighs lead to respectively
Crossing two cambered surface gripper shoes drives upper joint portion to rotate clockwise, and main winding wheel body rotation winds hauling rope, simultaneously as waist
In bending, therefore both shoulders are by driving back fixation plate so as to the frame for driving two power devices is moved forward, i.e. two dynamic equipments
The frame of part drives upper joint portion to rotate counterclockwise, and now, upper joint portion is rotated around secondary reel hinge, therefore, hauling rope around
On secondary coiling wheel body, (rotate counterclockwise) when frame is rotated forward and combine supporting point part, both pull neck bush simultaneously
Moving down makes spring contraction, and after user waist and thigh bend in place and grab steady goods, control system control power unit is opened
Dynamic, power unit shrinks and pulls arm-tie to rise, and when arm-tie column is contacted with neck bush, arm-tie column drives neck bush to move upwards
Dynamic, so as to pull hauling rope to rise, now, the hauling rope other end drives main kinking wheel body to rotate counterclockwise, and two cambered surfaces are supported
Plate is produced to thigh and overcomes goods gravity to make thigh turn to thrust F1 with body erect, orders about body rising, at the same time,
Main winding wheel brings counteracting force to the other end of hauling rope, makes gantry rotation and shoulder is applied to overcome by Braces hanged over tow shoulders
Goods gravity makes waist turn to pulling force F2 with leg vertical so that the upper part of the body of body rotate clockwise it is same with leg
When erect, after leg and waist erect, upper joint portion is contacted with upper joint gag lever post, i.e., at upper joint portion
On the extreme position for turning clockwise, and supporting point part is also contacted with supporting point part gag lever post, i.e., supporting point part is in the inverse time
On the extreme position of pin rotation, prevent supporting point part rotate counterclockwise from excessively causing thigh after upright still by supporting point part
Pressure, affects normal walking or the normal swing of thigh, is also prevented from excessively cause as upper joint portion and frame turning clockwise
The situation that human body is fallen backward occurs.
Rotating clockwise in above-mentioned and rotate counterclockwise from the present invention right side observation obtain, if the present invention a left side
Side observation then obtains contrary steering, and here is not described further.
Above-described embodiment is the present invention preferably embodiment, but embodiments of the present invention not by above-described embodiment
Limit, other any spirit without departing from the present invention and the change, modification, replacement made under principle, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (10)
1. a kind of Wearable ectoskeleton power assisting device, it is characterised in that：Part and two performers are worn including body, two
Performer is worn part by body and is coupled together, and performer includes hauling rope, power device, rotary joint and fulcrum
Part, power device include frame and power unit, and rotary joint includes upper joint portion and hypozygal portion, upper joint portion top with
Frame is fixedly connected, and upper joint subordinate portion is hinged with hypozygal portion top, is provided with directive wheel and secondary coiling in upper joint portion
Wheel, secondary reel are arranged on the hinged place in upper joint portion and hypozygal portion, be provided with tensioning wheel and master twines in hypozygal portion
Line wheel, supporting point part are fixed on main winding wheel, and hauling rope two ends are respectively fixed on power unit and main winding wheel, hauling rope
Middle part from top to bottom successively with directive wheel, secondary reel and tensioning wheel winding.
2. Wearable ectoskeleton power assisting device according to claim 1, it is characterised in that：The directive wheel includes directive wheel
Hinge, directive wheel hinge screw, guiding wheel body, directive wheel bearing and two guiding wheel sleeves, two guiding wheel sleeves pair
Should arrange in the both sides of directive wheel bearing inner race, guide wheel shaft bearing outer-ring is fixed in guiding wheel body, and directive wheel hinge is successively
Wheel sleeve, directive wheel bearing and another guiding wheel sleeve are oriented to through one and directive wheel hinge two ends stretch out in upper joint portion,
Directive wheel hinge screw lock on the screw of directive wheel hinge end, makes guiding wheel sleeve be directed to wheel bearing is clamped in guiding
In wheel body.
3. Wearable ectoskeleton power assisting device according to claim 1 and 2, it is characterised in that：The secondary reel includes
Secondary reel hinge, secondary coiling wheel body, secondary reel bearing, two secondary coiling wheel sleeves and two flange bearings, two methods
Blue bearing outer ring is connected on upper joint portion two side respectively, and two relative both ends of the surface of secondary coiling wheel sleeve correspond respectively to pair
The inner ring both sides of reel bearing are arranged, and the other both ends of the surface of two secondary coiling wheel sleeves correspond respectively to two flange bearing inner rings and set
Put, secondary reel hinge sequentially passes through a flange bearing, a secondary coiling wheel sleeve, secondary reel bearing, another secondary coiling wheel case
Cylinder and another flange bearing and secondary reel hinge two ends stretch out in upper joint portion, hypozygal portion is articulated with secondary reel hinge
On.
4. Wearable ectoskeleton power assisting device according to claim 1, it is characterised in that：Hypozygal is additionally provided with use in portion
In limit upper joint portion rotate clockwise scope upper joint gag lever post and for limit that supporting point part rotates counterclockwise
Point part gag lever post, upper joint gag lever post are arranged on the path that upper joint portion rotates clockwise, and supporting point part gag lever post is arranged
On the path that supporting point part is rotated counterclockwise.
5. Wearable ectoskeleton power assisting device according to claim 1, it is characterised in that：The tensioning wheel includes tensioning wheel
Hinge, tensioning wheel hinge screw, tensioning wheel body, tension wheel shaft bearing and two tensioning wheel sleeves, tension wheel shaft bearing outer-ring are solid
In tensioning wheel body, two tensioning wheel sleeves are arranged corresponding to the both sides of tension wheel shaft bearing inner ring, tension wheel shaft bearing outer-ring
It is fixed in tensioning wheel body, tensioning wheel hinge sequentially passes through a tensioning wheel sleeve, tension wheel shaft bearing and another tensioning wheel case
Cylinder and tensioning wheel hinge two ends stretch out in hypozygal portion, tensioning wheel hinge screw lock is made on the screw of tensioning wheel hinge end
Tensioning wheel sleeve is clamped in tension wheel shaft bearing in tensioning wheel body.
6. Wearable ectoskeleton power assisting device according to claim 1 or 5, it is characterised in that：The main winding wheel includes
Main kinking wheel body, main winding wheel hinge, main kinking wheel bearing, main kinking wheel sleeve and external fixture, two main kinkings
Wheel sleeve is arranged corresponding to the both sides of main winding wheel bearing inner race, and main winding wheel bearing outer ring is fixed in main kinking wheel body,
Main winding wheel hinge sequentially passes through a main kinking wheel sleeve, main kinking wheel bearing and another main kinking wheel sleeve and main winding wheel
Hinge two ends stretch out in hypozygal portion, and external fixture is fixedly connected on main kinking wheel body, and supporting point part is fixed on external
On fixture.
7. Wearable ectoskeleton power assisting device according to claim 6, it is characterised in that：The external fixture includes outer
Fixed block and two external fixed plates are connect, two external fixed plates are fixedly connected on main kinking wheel body two sides, two
Installation cavity is formed between external fixed plate, and external fixed block is fixedly installed in installation cavity, is longitudinally offered on external fixed block
Hinge hole；
The supporting point part includes leg baffle plate, supporting point part articulated section and supporting point part jointed shaft, supporting point part articulated section
Positioned at leg baffle plate top, supporting point part articulated section longitudinally offers and is hinged through hole, supporting point part jointed shaft be connected to be hinged it is logical
In hole and hinge hole, leg baffle plate bottom is provided with the cambered surface gripper shoe that can be closed with matching form on front side of thigh.
8. Wearable ectoskeleton power assisting device according to claim 1, it is characterised in that：Described two performers or so
Arrange, the secondary reel for being provided with the performer in left side is arranged at directive wheel lower right, and tensioning wheel is located at secondary reel
Lower right, main winding wheel then in the lower right of tensioning wheel, stretch from above directive wheel by the hauling rope for being arranged on the performer in left side
Enter and respectively successively around being set on directive wheel lower left quarter, secondary reel bottom and tensioning wheel upper right quarter；
The secondary reel for being arranged on the performer on right side is arranged at directive wheel lower left, and tensioning wheel is located at secondary reel lower-left
Side, then in the lower left of tensioning wheel, the hauling rope for being arranged on the performer in left side is stretched into simultaneously from above directive wheel main winding wheel
Respectively successively around being set on directive wheel right lower quadrant, secondary reel bottom and tensioning wheel upper left quarter；
Wire casing is offered on the main winding wheel outer circumference surface, and the one end of wire casing offers rope fastening hole, hauling rope winding
In wire casing and hauling rope end is fixed in rope fastening hole.
9. Wearable ectoskeleton power assisting device according to claim 1, it is characterised in that：The power unit includes pneumatic
Device and hauling rope tightening system, hauling rope tightening system include arm-tie, latch segment, neck bush, spring, arm-tie column and
Lead column, pneumatic means and lead column are individually fixed in frame, and arm-tie two ends are connected with lead column, and hauling rope is worn from the bottom up
It is fixed on latch segment after crossing arm-tie, arm-tie column, spring and neck bush, neck bush top is protruding with flange, spring
It is socketed on arm-tie column and neck bush, spring one end is contacted with arm-tie, the other end and Hp contacts, pneumatic means power output
End is connected on arm-tie.
10. Wearable ectoskeleton power assisting device according to claim 1, it is characterised in that：The body wears part to be included
Braces hanged over tow shoulders, brace connecting plate, back elasticity arm-tie, arm-tie connecting seat, backboard connecting seat, back fixation plate, pull bar and waist
Band, two brace bottoms of Braces hanged over tow shoulders are respectively fixedly connected with the frame of two power devices, two brace tops of Braces hanged over tow shoulders
It is individually fixed on brace connecting plate, brace connecting plate is fixed on back elasticity arm-tie top, back elasticity arm-tie lower hinge
On back fixation plate, arm-tie connecting seat is arranged on the elasticity arm-tie of back, and backboard connecting seat is fixed on back fixation plate, is drawn
Bar two ends are respectively hinged on arm-tie connecting seat and backboard connecting seat, and back fixation plate is fixed in the frame of two power devices,
Belt both sides are individually fixed in the hypozygal portion of two performers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611262888.1A CN106514628B (en) | 2016-12-30 | 2016-12-30 | Wearable exoskeleton power assisting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611262888.1A CN106514628B (en) | 2016-12-30 | 2016-12-30 | Wearable exoskeleton power assisting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106514628A true CN106514628A (en) | 2017-03-22 |
| CN106514628B CN106514628B (en) | 2020-03-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611262888.1A Active CN106514628B (en) | 2016-12-30 | 2016-12-30 | Wearable exoskeleton power assisting device |
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| Country | Link |
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| CN (1) | CN106514628B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108555885A (en) * | 2018-05-15 | 2018-09-21 | 西南交通大学 | A kind of ectoskeleton lumbar device of adjustable center of gravity |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3132044B1 (en) * | 2022-01-21 | 2023-12-22 | Robotiques 3 Dimensions | Exoskeleton to assist in maintaining a leaning forward posture and straightening up |
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| CN105597280A (en) * | 2016-03-21 | 2016-05-25 | 哈尔滨工业大学 | Active-passive upper limb rehabilitation training exoskeleton |
| CN105856190A (en) * | 2016-03-17 | 2016-08-17 | 西南交通大学 | Wearable handling assistor |
| CN206416159U (en) * | 2016-12-30 | 2017-08-18 | 广州市海同机电设备有限公司 | A kind of Wearable ectoskeleton power assisting device |
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| CN102548514A (en) * | 2009-09-28 | 2012-07-04 | 学校法人东京理科大学 | Lumbar support device |
| CN105479433A (en) * | 2016-01-04 | 2016-04-13 | 江苏科技大学 | Omnidirectional moving transfer robot with Mecanum wheels |
| CN105856190A (en) * | 2016-03-17 | 2016-08-17 | 西南交通大学 | Wearable handling assistor |
| CN105597280A (en) * | 2016-03-21 | 2016-05-25 | 哈尔滨工业大学 | Active-passive upper limb rehabilitation training exoskeleton |
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| CN108555885A (en) * | 2018-05-15 | 2018-09-21 | 西南交通大学 | A kind of ectoskeleton lumbar device of adjustable center of gravity |
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| Publication number | Publication date |
|---|---|
| CN106514628B (en) | 2020-03-10 |
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Address after: Xicha Road, Baiyun District of Guangzhou City, Guangdong province 510060 No. 799 first floor Patentee after: GUANGZHOU HAITONG INDUSTRIAL TECHNOLOGY Co.,Ltd. Address before: West Croucher road Julong Industrial Zone, Baiyun District of Guangzhou City, Guangdong province 510407 No. 799 6 1 floor Patentee before: GUANGZHOU HYETONE ELECTRICAL EQUIPMENT Co.,Ltd. |
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Effective date of registration: 20211227 Address after: 510000 room 402-1, building 3, No. 43, Yingbin Avenue West, Huadu District, Guangzhou, Guangdong Patentee after: Guangzhou Haitong Intelligent Equipment Co.,Ltd. Address before: 510060 first floor, 799 Xicha Road, Baiyun District, Guangzhou, Guangdong Patentee before: GUANGZHOU HAITONG INDUSTRIAL TECHNOLOGY Co.,Ltd. |
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Denomination of invention: A wearable exoskeleton assist device Effective date of registration: 20220416 Granted publication date: 20200310 Pledgee: China Co. truction Bank Corp Guangzhou Tianhe subbranch Pledgor: Guangzhou Haitong Intelligent Equipment Co.,Ltd. Registration number: Y2022980004382 |