CN106737590A - A kind of ectoskeleton power assisting device - Google Patents
A kind of ectoskeleton power assisting device Download PDFInfo
- Publication number
- CN106737590A CN106737590A CN201611258137.2A CN201611258137A CN106737590A CN 106737590 A CN106737590 A CN 106737590A CN 201611258137 A CN201611258137 A CN 201611258137A CN 106737590 A CN106737590 A CN 106737590A
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- wheel
- hinge
- upper joint
- tie
- bearing
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of ectoskeleton power assisting device, part, control system and two performers are worn including body, two performers are worn part and are coupled together by body, performer includes hauling rope, power part, rotary joint and supporting point part, power part includes frame and actuating cylinder, rotary joint includes upper joint portion and hypozygal portion, and upper joint portion top is fixedly connected with frame, and upper joint subordinate portion is hinged with hypozygal portion top；Control system includes controller, electric Proportion valve, trigger sensor and angular transducer, and electric Proportion valve is connected with actuating cylinder；Trigger sensor is connected with controller；The angular transducer is arranged on rotary joint, and angular transducer is connected with controller；Controller is connected with electric Proportion valve.The present invention has the advantages that man-machine interaction is good, structure it is dexterous it is light, be quick on the draw and easily operated.
Description
Technical field
The present invention relates to a kind of ESD, and in particular to a kind of ectoskeleton power assisting device.
Background technology
In recent years, the research of Wearable ectoskeleton is gradually risen, it is therefore an objective to which the flexibility of people, wisdom and machine is strong
Property is organically combined.It is mainly used in the fields such as medical rehabilitation, industrial 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.Its is common
Feature is under the support of power source, to gather human body signal by sensor and feed back to control unit, by patrolling for control unit
After collecting treatment, assigning instruction makes power execution unit execution, to realize corresponding function.Lower extremity movement trend can so be brought
Forecasting mechanism is designed, formulation and the implementation of robot control strategy, and power source and light, efficient self-supporting energy source device etc. is
Row key issue.And these have the 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 it only reside within the scientific research stage, it is impossible to
It is widely used in industrial production.
The content of the invention
For technical problem present in prior art, the purpose of the present invention is：A kind of ectoskeleton power assisting device is provided.
The purpose of the present invention is achieved through the following technical solutions：A kind of ectoskeleton power assisting device, including body wears part, control
System processed and two performers, two performers by body wear part couple together, performer include hauling rope,
Power part, rotary joint and supporting point part, power part include frame and actuating cylinder, rotary joint include upper joint portion and
Hypozygal portion, upper joint portion top is fixedly connected with frame, and upper joint subordinate portion is hinged with hypozygal portion top, upper joint portion
In be provided with directive wheel and secondary reel, secondary reel is arranged on upper joint portion and the hinged place in hypozygal portion, hypozygal portion
In be provided with tensioning wheel and main winding wheel, supporting point part is fixed on main winding wheel, and hauling rope two ends are respectively fixed to power
On cylinder and main winding wheel, hauling rope middle part from top to bottom successively with directive wheel, secondary reel and tensioning wheel winding；
Control system includes controller, electric Proportion valve, trigger sensor and angular transducer, electric Proportion valve with it is dynamic
Strength cylinder is connected；
Trigger sensor is connected with controller, and when trigger sensor is triggered, trigger sensor sends to controller and starts
Signal；
The angular transducer is arranged on rotary joint, and angular transducer is connected with controller, for detecting upper joint
Angle change between portion and hypozygal portion and/or between the hypozygal portion and supporting point part and angle-data that will be detected sends
To controller；
Controller is connected with electric Proportion valve, for controlling electric ratio according to the enabling signal and angle-data that receive
The switch and flow of valve.
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 the both sides setting that wheel sleeve corresponds to 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 includes secondary reel hinge, secondary coiling wheel body, secondary reel bearing, two pairs
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 inner ring both sides that the relative both ends of the surface of line wheel sleeve correspond respectively to secondary reel bearing are set, 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 is articulated with secondary reel hinge.
Preferably, the upper joint gag lever post that scope is rotated clockwise 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 correspond to tensioning
The both sides of wheel bearing inner ring are set, 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 correspond to the both sides setting 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, installation cavity is formed between two external fixed plates, external fixed block is fixed and set
It is placed in installation cavity, hinge hole is longitudinally offered on external fixed block；
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 supporting plate that can be engaged with thigh front side shape.
Preferably, described two performers or so are set, and are provided with being set in the secondary reel of the performer in left side
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 and respectively successively around being set to directive wheel lower left quarter, secondary reel bottom from directive wheel top
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 main winding wheel from directive wheel top
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, the one end of wire casing offers rope fastening hole, hauling rope
Winding is in wire casing and during rope fastening hole is fixed in hauling rope end.
Preferably, the actuating cylinder 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 after passing through arm-tie, arm-tie column, spring and neck bush from the bottom up
On tight block, neck bush top edge is protruding with flange, and spring is socketed on arm-tie column and neck bush, and spring one end connects with arm-tie
Touch, the other end and Hp contacts, pneumatic means clutch end is connected on arm-tie；
Angular transducer includes first angle sensor and second angle sensor, and first angle sensor connects with controller
Connect, for detecting that the angle change between upper joint portion and hypozygal portion and the angle-data that will be detected are sent to controller；
Second angle sensor is connected with controller, for detecting the angle change between hypozygal portion and supporting point part simultaneously
The angle-data that will be detected is sent to controller；
The angle value sum control that controller is detected according to first angle sensor and second angle sensor is electrically compared
The flow of example valve；
Trigger sensor is myoelectric sensor or displacement transducer, and when trigger sensor is displacement transducer, displacement is passed
Sensor is used to detect the change in displacement of hauling rope and send to controller displacement data.
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 waistband, two brace bottoms of Braces hanged over tow shoulders are respectively fixedly connected with two power parts
Frame on, two brace tops of Braces hanged over tow shoulders are individually fixed on brace connecting plate, brace connecting plate be fixed on back elasticity
Arm-tie top, on back fixation plate, arm-tie connecting seat is arranged on the elasticity arm-tie of back back elasticity arm-tie lower hinge, the back of the body
Plate 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, and back is solid
Fixed board is fixed in the frame of two power parts, and waistband both sides are individually fixed in the hypozygal portion of two performers.
The present invention has the following advantages and effect relative to prior art：
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 and efficiency can be effectively improved, the composite can be widely applied in each field, can reached using pneumatic muscle
Safe and efficient explosion-proof effect, during use, does not produce interference to human motion, such as：Normal walking to people does not produce resistance
Hinder, frame of the invention, supporting point part, upper joint portion, hypozygal portion etc. are manufactured using aluminium alloy, and this causes that the present invention has
Lightweight, intensity advantage high, the present invention also have have a wide range of application, safe and reliable, long service life, noise be small and manufacture
The advantage of low cost.
2nd, each action and flexible excellent with easily operated and use can be accurately performed when control system of the invention works
Point.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Fig. 2 is the structural representation at Fig. 1 rear portions.
Structural representation when Fig. 3 is the upright performer for being arranged on right side of the invention.
Fig. 4 is the structural representation of the performer that the present invention is arranged on left side.
Fig. 5 is schematic diagrames of the Fig. 3 when thigh bending waist does not bend lifting goods.
Fig. 6 is schematic diagrames of the Fig. 3 when leg vertical of bending over lifts goods.
Fig. 7 is schematic diagrames of the Fig. 3 when bending over to lift goods with thigh bending.
Fig. 8 is the annexation schematic diagram in upper joint portion of the invention and hypozygal portion.
Fig. 9 is the explosive view of Fig. 8.
Figure 10 is hypozygal portion of the invention structural representation.
Figure 11 is the explosive view of Figure 10.
Figure 12 is the schematic diagram that pneumatic means of the invention is connected with hauling rope tightening system.
Figure 13 is the installation relation schematic diagram of supporting point part of the invention and main winding wheel.
Figure 14 is the structural representation of main kinking wheel body of the invention.
Figure 15 is the sectional view of main kinking wheel body of the invention.
Figure 16 is the schematic diagram after the present invention wears.
Figure 17 is the structured flowchart of control system of the invention.
Wherein, 1- performers, 2- hauling ropes, 3- power parts, 4- supporting point parts, 5- frames, 6- actuating cylinders are closed on 7-
Section 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 screw, 15- is oriented to wheel body, 16- directive wheel bearings, and 17- is oriented to wheel sleeve, 18- pair reel hinges, 19-
Secondary coiling wheel body, 20- pair reel bearings, 21- pair coiling wheel sleeves, 22- flange bearings, 23- upper joint gag lever posts, 24-
Supporting point part gag lever post, 25- tensioning wheel hinges, 26- tensioning wheel hinge screws, 27- tensioning wheel bodies, 28- tension wheel shaft bearings,
29- is tensioned wheel sleeve, the main kinking wheel bodies of 30-, the main winding wheel hinges of 31-, the main kinking wheel bearings of 32-, the main winding wheel copper of 33-
Set, 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- hinges
Connect hole, 40- cambered surface supporting plates, 41- pneumatic means, 42- arm-ties, 43- latch segments, 44- neck bush, 45- springs, 46- arm-ties
Column, 47- lead columns, 48- Braces hanged over tow shoulders, 49- brace connecting plates, 50- backs elasticity arm-tie, 51- back fixation plates, 52- draws
Bar, 53- waistbands, 54- wire casings, 55- rope fastening holes, 56- electric Proportion valves, 57- air pumps and 58- normally closed switch.
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 ectoskeleton power assisting device, including body wearing part, control system and two
Performer 1, two performers by body wear part couple together, two performers include hauling rope 2, power part 3,
Rotary joint and wear in the supporting point part 4 on leg, power part 3 includes frame 5 and actuating cylinder 6, rotary joint bag
Upper joint portion 7 and hypozygal portion 8 are included, the top of upper joint portion 7 is fixedly connected with frame 5, the bottom of upper joint portion 7 and hypozygal portion 8
Top is hinged, and directive wheel 9 and secondary reel 10 are provided with upper joint portion 7, and secondary reel is arranged at upper joint portion 7 and ShiShimonoseki
On the hinged place in section portion 8, tensioning wheel 11 and main winding wheel 12 are provided with hypozygal portion 8, supporting point part 4 is fixed on main kinking
On wheel 12, the two ends of hauling rope 2 are respectively fixed on actuating cylinder 6 and main winding wheel 12, the middle part of hauling rope 2 from top to bottom successively with
Directive wheel 9, secondary reel 10 and the winding of tensioning wheel 11.
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 set, and the outer ring of directive wheel bearing 16 is fixed in guiding wheel body 15, and directive wheel hinge 13 sequentially passes through it
In one be oriented to wheel sleeve 17, directive wheel bearing 16 and another guiding wheel sleeve 17 and two ends of directive wheel hinge 13 stretch out in pass
Section portion 7, directive wheel hinge screw 14 is lock onto on the screw of the end of directive wheel hinge 13 makes guiding wheel sleeve 17 be directed to wheel shaft
16 are held 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, the secondary secondary coiling wheel sleeve 21 of 20, two, reel bearing and two flange bearings 22, the outer ring of two flange bearing 22 is worn respectively
It is connected on the two side of upper joint portion 7, two relative both ends of the surface of secondary coiling wheel sleeve 21 correspond respectively to secondary reel bearing 20
Inner ring both sides set, two other both ends of the surface of secondary coiling wheel sleeve 21 correspond respectively to the setting of the inner ring of two flange bearing 22, secondary
Reel hinge 18 sequentially passes through the secondary coiling wheel sleeve 21 of a flange bearing 22, secondary reel bearing 20, another secondary reel
Sleeve 21 and another flange bearing 22 and the secondary two ends of reel hinge 18 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 the outer ring of tension wheel shaft bearing 28
In, two tensioning wheel sleeves 29 correspond to the both sides setting of the inner ring of tension wheel shaft bearing 28, and the outer ring of tension wheel shaft bearing 28 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
The cylinder 29 and two ends of tensioning wheel hinge 25 stretch out in hypozygal portion 8, tensioning wheel hinge screw 26 lock onto the end of tensioning wheel hinge 25
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 the inner ring of bearing 32 are set, and the main outer ring of kinking wheel bearing 32 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 cuts with scissors
The two ends of axle 31 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 is external solid including external fixed block 34 and two
Fixed board 35, two external fixed plates 35 are fixedly connected on the main two sides of kinking wheel body 30, between two external fixed plates 35
Installation cavity is formed, external fixed block 34 is fixedly installed in installation cavity, and hinge hole 36 is longitudinally offered 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 opens up hinged in the top of leg baffle plate 37, 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 the bottom of leg baffle plate 37 is provided with energy
The cambered surface supporting plate 40 being engaged with thigh front side shape.
As shown in Fig. 1-7 and Figure 16, it is preferred that described two performers 1 or so are set, and are provided with holding in left side
The secondary reel 10 of row device 1 is arranged at the lower right of directive wheel 9, and tensioning wheel 11 is located at the secondary lower right of reel 10, main winding wheel
12 lower rights in tensioning wheel 11, the hauling rope 2 for being arranged on the performer 1 in left side is stretched into and difference from the top of directive wheel 9
Successively around being set on the lower left quarter of directive wheel 9, the secondary bottom of reel 10 and the upper right quarter of tensioning wheel 11；
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 the lower-left of directive wheel 9
Side, tensioning wheel 11 is located at the secondary lower left of reel 10, 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 and respectively successively around being set to the right lower quadrant of directive wheel 9, the secondary bottom of reel 10 from the top of directive wheel 9
And on the upper left quarter of tensioning wheel 11.
As shown in Fig. 1,2,12 and 16：Preferably, the actuating cylinder 6 includes that pneumatic means 41 and hauling rope tighten up machine
Structure, hauling rope tightening system includes 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 the two ends of arm-tie 42 are connected with lead column 47, and hauling rope 2 is from lower past
On through being fixed on latch segment 43 after arm-tie 42, arm-tie column 46, spring 45 and neck bush 44, the top edge of neck bush 44
Be protruding with flange, spring 45 is socketed on arm-tie column 46 and neck bush 44, and the one end of spring 45 contacts with arm-tie 42, the other end with
Hp contacts, the clutch end of pneumatic means 41 is 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
The elastic arm-tie 50 in portion, arm-tie connecting seat, backboard connecting seat, back fixation plate 51, pull bar 52 and waistband 53, Braces hanged over tow shoulders 48
Two brace bottoms are respectively fixedly connected with the frame 5 of two power parts 3, and two brace tops of Braces hanged over tow shoulders 48 are individually fixed in the back of the body
In strip connecting plate 49, brace connecting plate 49 is fixed on back elasticity arm-tie 50 top, and the back elasticity lower hinge of arm-tie 50 is in the back of the body
In portion's fixed 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,
The two ends of pull bar 52 are respectively hinged on arm-tie connecting seat and backboard connecting seat, and back fixation plate 51 is fixed on the machine of two power parts 3
On frame 5, the both sides of waistband 53 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 the main outer circumference surface of kinking wheel body 30
Groove 54, the one end of wire casing 54 offers rope fastening hole 55, and the winding of hauling rope 2 is in wire casing 54 and the end of hauling rope 2 is fixed
In rope fastening hole 55.
As shown in figure 17：Preferably, control system includes controller, electric Proportion valve 56, trigger sensor, angle sensor
Device, analog-digital converter, air pump 57, the dc source that electric energy is provided for control system and for control control system switch it is normal
Disconnect and close 58, air pump 57 is connected with electric Proportion valve 56, and electric Proportion valve 56 is connected with pneumatic muscle；Controller is single-chip microcomputer,
It is additionally provided with the computer for being loaded into controlling extent to single-chip microcomputer.
Trigger sensor is connected by analog-digital converter with controller, and when trigger sensor is triggered, trigger sensor leads to
Cross analog-digital converter and send enabling signal to controller；
The angular transducer is arranged on rotary joint, and angular transducer is connected by analog-digital converter with controller,
For detecting the angle change between upper joint portion and hypozygal portion and/or between hypozygal portion and supporting point part and will detect
Angle-data sent to controller by analog-digital converter；
Controller is connected with electric Proportion valve, for controlling electric ratio according to the enabling signal and angle-data that receive
The switch and flow of valve.
Angular transducer includes first angle sensor and second angle sensor, and first angle sensor connects with controller
Connect, for detecting that the angle change between upper joint portion and hypozygal portion and the angle-data that will be detected are sent to controller；
Second angle sensor is connected with controller, for detecting the angle change between hypozygal portion and supporting point part simultaneously
The angle-data that will be detected is sent to controller；
The angle value sum control that controller is detected according to first angle sensor and second angle sensor is electrically compared
The flow of example valve；
As shown in figure 17：Preferably, trigger sensor is myoelectric sensor or displacement transducer, when trigger sensor is position
During displacement sensor, displacement transducer is used to detect the change in displacement of hauling rope and send to controller displacement data.
It is furthermore preferred that when trigger sensor is displacement transducer, contact and the detection neck bush 44 of displacement transducer
Flange is in contact, and due to the effect of spring 45, neck bush 44 is tightly sticked on latch segment 43 all the time, therefore, moved in hauling rope 2
When, neck bush 44 can the up or down movement with the movement of hauling rope 2, so displacement transducer is by detecting the displacement of neck bush 44
Change can obtain the displacement data of hauling rope.
During work, if trigger sensor is displacement transducer, when thigh bends and/or bends over to lift goods, liner
Set 44 moves down the contact of compression spring 45 and displacement transducer, promptly after goods, is moved on thigh and/or the upper part of the body, now, detection
Neck bush 44 is moved up in the presence of spring 45, and the contact of displacement transducer is to detect the action moved on neck bush 44,
Then, enabling signal is sent to controller, controller control electric Proportion valve makes air pump be connected with pneumatic muscle and to pneumatic flesh
Tendon is supplied, due to the hauling rope unwrapping wire limit for neck bush is contacted with arm-tie column, therefore, no matter thigh bends delivery of cargo thing, bends over
Delivery of cargo thing or thigh and waist bending delivery of cargo thing, total angle of bend of rotary joint is all fixed, i.e. when upper joint portion is with
When angle of bend between joint portion is larger, the angle of bend scope between hypozygal portion and supporting point part is then reduced, conversely, under
When angle of bend between joint portion and supporting point part is larger, the angle of bend scope between upper joint portion and hypozygal portion then subtracts
It is few, therefore electric ratio can be controlled by the angle value sum detected according to first angle sensor and second angle sensor
The gas supply flow of valve, so that can have speed faster when lifting is started, and can have one when being lifted approximately in place
Slower speed, so as to reach avoid produce impact and avoid rise it is too fast and it is unexpected stopping make wearer injury, additionally, also carrying
The high comfortableness worn.
If trigger sensor is myoelectric sensor, to control when myoelectric sensor detects the signal of staff lifting goods
Device sends enabling signal, and controller control electric Proportion valve makes air pump be connected with pneumatic muscle and be supplied to pneumatic muscle, and electric
The flow angle-data that is then detected according to angular transducer of control of gas proportioning valve is controlled, its operation principle and above-mentioned phase
Together, it is not described further herein.
The course of work of the invention and operation principle：When using, worn first, two braces of Braces hanged over tow shoulders are worn respectively
Enter on both shoulders, waistband is matched somebody with somebody and is applied to waist, while two cambered surface supporting plates is coupled to thigh front side, 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 in contact 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 can prevent people from producing hypsokinesis due to heavy burden after upright or backward falling
Situation occurs, and improves security, meanwhile, it is also beneficial to do not wearing fashionable dress and put the fixation of form, convenient transport.
Lift goods using the present invention and can be performed by following three kinds of modes when putting down goods：
First 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 supporting plates 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 for neck bush with arm-tie column) of hauling rope, when making
After user grabs steady goods, control system control actuating cylinder start, actuating cylinder 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 drives main winding wheel master
Body is rotated counterclockwise, and now, two cambered surface supporting plates are produced to thigh and overcome the goods gravity thigh is turned to and body erect
Thrust F1, orders about body rising, so as to reach the purpose that auxiliary people lifts goods.When thigh and body erect, the present invention is extensive
It is multiple to rotate counterclockwise to be contacted with supporting point part gag lever post on extreme position to original state, i.e. supporting point part, prevent fulcrum
Part rotate counterclockwise excessively causes thigh after upright still by the pressure of supporting point part, the fortune of the normal walking of influence or thigh
It is dynamic.
The second way, bends over to lift goods：When bending over, leg is kept upright, because leg does not bend, two cambered surfaces
Supporting plate is pressed on thigh, therefore, main winding wheel does not produce rotation, therefore, main winding wheel at this moment consolidates one end of hauling rope
Get up calmly, when bending over, both shoulders are by driving back fixation plate so as to the frame for driving two power parts is moved forward, i.e. two for people
The frame of power part drives upper joint portion to rotate counterclockwise, and now, upper joint portion rotates around secondary reel hinge, therefore, traction
Rope is wound on secondary coiling wheel body, (is rotated counterclockwise) when frame is rotated forward, under the other end pulling neck bush of hauling rope
Shifting makes spring contraction and is wound on to compensate the hauling rope length of secondary coiling wheel body, when waist bending in place and user grabs steady goods
Afterwards, control system control actuating cylinder starts, and actuating cylinder shrinks and pulls arm-tie to rise, when arm-tie column is contacted with neck bush
When, arm-tie column drives neck bush to be moved up along lead column, because two cambered surface supporting plates are pressed on thigh, now main winding wheel
One end of hauling rope is fixed up, therefore, in the case where actuating cylinder is persistently pulled, the other end of hauling rope obtains main winding wheel band
The reaction force for coming, is made gantry rotation and shoulder is applied by Braces hanged over tow shoulders can overcome the goods gravity to make waist turn to and leg
The upright pulling force F2 in portion, so that the upper part of the body of body is rotated clockwise and erected, reaches the purpose that auxiliary lifts goods,
When human body recovers upright, upper joint portion is in contact with upper joint gag lever post, i.e., upper joint portion is in the limit for turning clockwise
On position, prevent from excessively causing human body situation backward to occur because upper joint portion and frame turn clockwise.
The third mode, bends over to lift goods with thigh bending：Because simultaneously waist and thigh bend, two thighs lead to respectively
Crossing two cambered surface supporting plates 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 parts is moved forward, i.e. two power parts
Frame drives upper joint portion to rotate counterclockwise, and now, upper joint portion rotates around secondary reel hinge, therefore, hauling rope is wound on pair
On coiling wheel body, (rotated counterclockwise) when frame is rotated forward and combine supporting point part, both pull neck bush to move down simultaneously
Make spring contraction, after user's waist and thigh bend in place and grab steady goods, control system control actuating cylinder starts, and moves
Strength cylinder 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 up, from
And pull hauling rope to rise, now, the hauling rope other end drives main kinking wheel body to rotate counterclockwise, and two cambered surface supporting plates are to big
Leg is produced and overcomes the goods gravity thigh is turned to the thrust F1 with body erect, orders about body rising, at the same time, main kinking
Take turns and bring reaction force to the other end of hauling rope, make gantry rotation and shoulder is applied by Braces hanged over tow shoulders can overcome goods weight
Power makes waist turn to the pulling force F2 with leg vertical, so that the upper part of the body of body is rotated clockwise with leg while upright
Get up, after leg and waist erect, upper joint portion is in contact with upper joint gag lever post, i.e., upper joint portion is in up time
On the extreme position of pin rotation, and supporting point part is also contacted with supporting point part gag lever post, i.e., supporting point part is in rotate counterclockwise
Extreme position on, prevent supporting point part rotate counterclockwise from excessively causing thigh after upright still by the pressure of supporting point part,
The normal walking of influence or the normal swing of thigh, be also prevented from due to upper joint portion and frame turn clockwise excessively cause human body to
Situation about falling afterwards occurs.
Rotating clockwise in above-mentioned and rotate counterclockwise from right side of the invention observation obtain, if on a left side of the invention
Side observation then obtains opposite steering, is not described further herein.
Above-described embodiment is the present invention preferably implementation method, but embodiments of the present invention are not by above-described embodiment
Limitation, it is other it is any without departing from Spirit Essence of the 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 ectoskeleton power assisting device, it is characterised in that：Part, control system and two performers are worn including body,
Two performers are worn part and are coupled together by body, and performer includes hauling rope, power part, rotary joint and fulcrum
Part, power part include frame and actuating cylinder, rotary joint include 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, and directive wheel and secondary coiling are provided with upper joint portion
Wheel, secondary reel is arranged on the hinged place in upper joint portion and hypozygal portion, tensioning wheel is provided with hypozygal portion and master twines
Line wheel, supporting point part is fixed on main winding wheel, and hauling rope two ends are respectively fixed on actuating cylinder and main winding wheel, hauling rope
Middle part from top to bottom successively with directive wheel, secondary reel and tensioning wheel winding；
Control system includes controller, electric Proportion valve, trigger sensor and angular transducer, electric Proportion valve and power gas
Cylinder is connected；
Trigger sensor is connected with controller, and when trigger sensor is triggered, trigger sensor sends to controller and starts letter
Number；
The angular transducer is arranged on rotary joint, and angular transducer is connected with controller, for detect upper joint portion with
Angle change between hypozygal portion and/or between the hypozygal portion and supporting point part and angle-data that will be detected is sent to control
Device processed；
Controller is connected with electric Proportion valve, for according to enabling signal and angle-data the control electric Proportion valve for receiving
Switch and flow.
2. ectoskeleton power assisting device according to claim 1, it is characterised in that：The directive wheel include directive wheel hinge,
Directive wheel hinge screw, guiding wheel body, directive wheel bearing and two guiding wheel sleeves, two guiding wheel sleeves correspond to leads
Set to the both sides of wheel bearing inner ring, guide wheel shaft bearing outer-ring is fixed in guiding wheel body, and directive wheel hinge sequentially passes through one
It is oriented to wheel sleeve, directive wheel bearing and another guiding wheel sleeve and directive wheel hinge two ends stretches out in upper joint portion, directive wheel
Hinge screw lock is clamped in guiding wheel body in making guiding wheel sleeve be directed to wheel bearing on the screw of directive wheel hinge end
In.
3. ectoskeleton power assisting device according to claim 1 and 2, it is characterised in that：The secondary reel includes secondary coiling
Wheel hinge, secondary coiling wheel body, secondary reel bearing, two secondary coiling wheel sleeves and two flange bearings, two flange bearings
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 secondary reel
The inner ring both sides of bearing are set, and two secondary coiling other both ends of the surface of wheel sleeve correspond respectively to the setting of two flange bearing inner rings, secondary
Reel hinge sequentially pass through a flange bearing, a secondary coiling wheel sleeve, secondary reel bearing, another secondary coiling wheel sleeve and
Another flange bearing and secondary reel hinge two ends stretch out in upper joint portion, hypozygal portion is articulated with secondary reel hinge.
4. ectoskeleton power assisting device according to claim 1, it is characterised in that：Hypozygal is additionally provided with for limiting in portion
Upper joint portion rotates clockwise the upper joint gag lever post of scope and for limiting the supporting point part that supporting point part is rotated counterclockwise
Gag lever post, upper joint gag lever post is arranged on the path that upper joint portion rotates clockwise, and supporting point part gag lever post is arranged at fulcrum
On the path that part is rotated counterclockwise.
5. ectoskeleton power assisting device according to claim 1, it is characterised in that：The tensioning wheel include 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 is fixed on to be opened
In bearing up pulley main body, two tensioning wheel sleeves correspond to the both sides setting of tension wheel shaft bearing inner ring, and tension wheel shaft bearing outer-ring is fixed on
In tensioning wheel body, tensioning wheel hinge sequentially passes through a tensioning wheel sleeve, tension wheel shaft bearing and another tensioning wheel sleeve and opens
Bearing up pulley hinge two ends stretch out in hypozygal portion, and tensioning wheel hinge screw lock on the screw of tensioning wheel hinge end in making tensioning wheel
Be clamped in tension wheel shaft bearing in tensioning wheel body by sleeve.
6. 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 kinking wheel sleeves
Both sides corresponding to main winding wheel bearing inner race are set, and main winding wheel bearing outer ring is fixed in main kinking wheel body, main kinking
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
End stretches out in hypozygal portion, and external fixture is fixedly connected on main kinking wheel body, and supporting point part is fixed on external fixture
On.
7. ectoskeleton power assisting device according to claim 6, it is characterised in that：The external fixture includes external fixation
Block and two external fixed plates, two external fixed plates are fixedly connected on main kinking wheel body two sides, and two external solid
Installation cavity is formed between fixed board, external fixed block is fixedly installed in installation cavity, and hinge hole is longitudinally offered on external fixed block；
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 supporting plate that can be engaged with thigh front side shape.
8. ectoskeleton power assisting device according to claim 1, it is characterised in that：Described two performers or so are set,
The secondary reel being provided with the performer in left side is arranged at directive wheel lower right, and tensioning wheel is located at secondary reel bottom right
Side, then in the lower right of tensioning wheel, the hauling rope for being arranged on the performer in left side is stretched into simultaneously main winding wheel from directive wheel top
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 main winding wheel from directive wheel top
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, the one end of wire casing offers rope fastening hole, hauling rope winding
In wire casing and during rope fastening hole is fixed in hauling rope end.
9. ectoskeleton power assisting device according to claim 1, it is characterised in that：The actuating cylinder include pneumatic means with
And hauling rope tightening system, hauling rope tightening system include arm-tie, latch segment, neck bush, spring, arm-tie column and guiding
Post, pneumatic means and lead column are individually fixed in frame, and arm-tie two ends are connected with lead column, and hauling rope is from the bottom up through drawing
It is fixed on latch segment after plate, arm-tie column, spring and neck bush, neck bush top edge is protruding with flange, spring socket
In on arm-tie column and neck bush, spring one end is contacted with arm-tie, the other end and Hp contacts, and pneumatic means clutch end connects
It is connected on arm-tie；
Angular transducer includes first angle sensor and second angle sensor, and first angle sensor is connected with controller,
For detecting that the angle change between upper joint portion and hypozygal portion and the angle-data that will be detected are sent to controller；
Second angle sensor is connected with controller, for detecting the angle change between hypozygal portion and supporting point part and will examine
The angle-data for measuring is sent to controller；
The angle value sum that controller is detected according to first angle sensor and second angle sensor controls electric Proportion valve
Flow；
Trigger sensor is myoelectric sensor or displacement transducer, when trigger sensor is displacement transducer, displacement transducer
For detecting the change in displacement of hauling rope and sending to controller displacement data.
10. ectoskeleton power assisting device according to claim 1, it is characterised in that：The body is worn part and is carried on the back including both shoulders
Band, brace connecting plate, the elastic arm-tie in back, arm-tie connecting seat, backboard connecting seat, back fixation plate, pull bar and waistband, both shoulders
Two brace bottoms of brace are respectively fixedly connected with the frame of two power parts, and two brace tops of Braces hanged over tow shoulders are individually fixed in
On brace connecting plate, brace connecting plate is fixed on back elasticity arm-tie top, and back elasticity arm-tie lower hinge is in back fixation
On plate, arm-tie connecting seat is arranged on the elasticity arm-tie of back, and backboard connecting seat is fixed on back fixation plate, pull bar two ends difference
It is hinged on arm-tie connecting seat and backboard connecting seat, back fixation plate is fixed in the frame of two power parts, waistband both sides difference
It is fixed in the hypozygal portion of two performers.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611258137.2A CN106737590B (en) | 2016-12-30 | 2016-12-30 | Exoskeleton power assisting device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611258137.2A CN106737590B (en) | 2016-12-30 | 2016-12-30 | Exoskeleton power assisting device |
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| CN106737590B CN106737590B (en) | 2023-09-26 |
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| CN109009889A (en) * | 2018-08-10 | 2018-12-18 | 山东大学 | Wearable flexibility lower limb rehabilitation robot |
| CN109343704A (en) * | 2018-09-12 | 2019-02-15 | 南京航空航天大学 | A kind of healing robot hand online actions identifying system based on LABVIEW platform |
| CN110524526A (en) * | 2017-11-09 | 2019-12-03 | 上海司羿智能科技有限公司 | Assistance exoskeleton system and its method of synkinesia |
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| CN106737590B (en) | 2023-09-26 |
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