CN107116535A - Ectoskeleton power assisting device - Google Patents
Ectoskeleton power assisting device Download PDFInfo
- Publication number
- CN107116535A CN107116535A CN201710365518.9A CN201710365518A CN107116535A CN 107116535 A CN107116535 A CN 107116535A CN 201710365518 A CN201710365518 A CN 201710365518A CN 107116535 A CN107116535 A CN 107116535A
- Authority
- CN
- China
- Prior art keywords
- support
- bearing
- slide unit
- thigh
- calf
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
Abstract
The invention discloses a kind of ectoskeleton power assisting device, including bearing, in bearing two ends difference connected legs mechanism；Each leg mechanism includes the calf support being connected with the thigh support portion of bearing flexible connection, with thigh support subordinate end and the leg support mechanism for being arranged on calf support lower end；Each thigh supporting part rear is hinged with support bar, and the support bar other end is connected at the slide unit at calf support rear, and chute is provided with calf support length direction, and slide unit can be slided up and down in chute；Slide unit connects an elastic stretching part, and the elastic stretching part other end is articulated with calf support；The drive mechanism that its motion of driving is set on the parallel four-bar linkage that can be opened and closed, parallel four-bar linkage is set in one of thigh support portion.The present invention is utilized respectively the function that elastic energy storage provides power-assisted, parallel four-bar linkage realization is transported goods, and realizes difunctional ingenious combination, compact conformation is reasonable.
Description
Technical field
The present invention relates to power assisting device field, specifically a kind of ectoskeleton power assisting device.
Background technology
Current E-commerce industry flourishes, and the requirement to logistic industry increases increasingly, logistics company increased pressure, thing
The routine work amount for flowing staff is big, staff sort on sorting line during express mail, it is necessary to mechanical reciprocating in biography
Interband is sent to transport goods.Because its huge workload causes staff to produce passive mood, can often occur in conveyer belt
Between when transport goods, occur throwing out without care and throw out without care etc. uncivil existing, cause cargo damage.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention provides a kind of ectoskeleton power assisting device.
Technical scheme：In order to solve the above technical problems, a kind of ectoskeleton power assisting device of the present invention, including bearing, in branch
Seat two ends difference connected legs mechanism；Each leg mechanism includes the thigh support portion being flexibly connected with bearing and thigh support portion
The calf support of lower end connection and the leg support mechanism for being arranged on calf support lower end；Each thigh supporting part rear hinge
Support bar is connected to, the support bar other end is connected at the slide unit at calf support rear, on calf support length direction
Chute is provided with, slide unit can be slided up and down in chute；Slide unit connects an elastic stretching part, elastic stretching portion
The part other end is articulated with calf support.
Wherein, slide unit is a bearing pin being installed in chute；After chute extends along calf support to upper end, then
Extend to inner side, form horizontal groove, the transverse groove end sets bayonet socket, and it is another with elastic stretching part that the bayonet socket is used for receiving
Hold the bearing pin of connection.
Wherein, bearing inner ring is provided with waistband, and thigh support portion on the inside of calf support with being respectively arranged with gaiter band.
Wherein, one group of fixture is additionally provided with bearing, fixture is used to bearing being fixed on operating position.
Wherein, thigh support portion and calf support are made up of channel-section steel, and backwards, elastic stretching part is located at the opening of channel-section steel
Inside channel-section steel, the slide unit two ends of its end connection are stuck in the chute on channel-section steel.
Wherein, elastic stretching part is extension spring.
Beneficial effect：A kind of ectoskeleton power assisting device of the present invention, has the advantages that：
During using ectoskeleton assist function, device is worn on, utilize the rocking bar of support bar and slide unit composition
Slide block mechanism drives the stretching of spring, when staff squats down, and spring is stretched storage energy.When staff stands,
Releasing energy, there is provided power-assisted.Function is carried using part torque during spring counteracting loading fixed on planar linkage mechanism,
Stepper motor drives the angle of gear drive controls connecting rod mechanism.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is side structure schematic view of the invention；
Fig. 3 is working state schematic representation of the invention；
Fig. 4 is calf support structural representation；
Fig. 5 is calf support backsight structural representation.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings.
As shown in Fig. 1 and Fig. 2, Fig. 4, Fig. 5, a kind of ectoskeleton power assisting device, including bearing 1, the inner ring of bearing 1 is provided with waist
Band 2；In the two ends of bearing 1 difference connected legs mechanism；Each leg mechanism include is flexibly connected with bearing 1 thigh support portion 3, and
The calf support 4 of the lower end of thigh support portion 3 connection and the leg support mechanism 5 for being arranged on the lower end of calf support 4, thigh
Supporting part 3 is respectively arranged with gaiter band 7 with the inner side of calf support 4.Each rear of thigh supporting part 3 is hinged with support bar 8, support
The other end of bar 8 is connected in the slide unit 9 at the rear of calf support 4, and chute is provided with the length direction of calf support 4
10, slide unit 9 can be slided up and down in chute 10；Slide unit 9 connects an elastic stretching part 11, elastic stretching part
11 other ends are articulated with calf support 4；Elastic stretching part 11 can be extension spring.Specifically, slide unit 9 is clamp
A bearing pin in chute 10；After chute 10 extends along calf support 4 to upper end, then extend to inner side, form horizontal
Groove, the transverse groove end sets bayonet socket 12, and the bayonet socket 12 is used to accommodate the bearing pin 13 being connected with the other end of elastic stretching part 11.
The thigh support portion 3 and calf support 4 of the present invention can be made of channel-section steel, and backwards, extension spring is located at groove to the opening of channel-section steel
Inside steel, the two ends of bearing pin 13 of its end connection are stuck in the chute 10 on channel-section steel.During normal condition, support bar 8 is located at channel-section steel
Groove in.
In specific application, as shown in figure 3, user ties up waistband 2 on waist, bearing 1 is also secured to waist.This
When, the thigh of user is bound with thigh support portion 3 by gaiter band 7, shank is bound with calf support 4, the pin of user is stepped on
On leg support mechanism 5.When user squats down, the lower end of support bar 8 that the rear of thigh support portion 3 is hinged is in leg support bar 8
Chute 10 in move downward, extension spring is stretched storage power, and after the lower end of support bar 8 is by 10 times end in contact of chute, user is then
It can not continue to squat down.When user, which has removed weight, to stand, because extension spring has put aside pulling force, and pulling force is applied to support
Bar 8, the upper end of support bar 8 applies thrust to thigh support portion 3, just can be more laborsaving when user stands.Thereby, it is possible to
Ensure user after repeatedly squatting down and standing, without expending too many muscle power.
Specifically, ectoskeleton assistant mode is using form fixed on the outside of lower limb, according to Ergonomics Data GB/
T10000-1998, it is reference frame to choose the 50th hundredths somatic data in (18-66 Sui) crowd, obtains following data：It is small
The length of leg supporting part 4 is 422mm, and the height of foot mechanism is 81mm, and the length in thigh support portion 3 is 424mm, according under human body
Reference data and realistic simulation during crouching, 100 ° of design hip joint corner, 120 ° of knee joint corner, 85 ° of ankle-joint corner.
As a kind of specific embodiment, support bar 8 is circular pin, its a length of 240mm, support bar 8 and thigh support
The junction revolute pair of portion 3 is to knee joint revolute pair 120mm, now, when knee joint thigh support portion 3 with calf support 4 into 0 °
During angle, slide unit 9 to knee joint revolute pair distance is 120mm, removes the offset 32.5mm of chute 10 and support bar 8, then
Now sliding block is away from knee joint revolute pair vertical direction actual range：
When knee joint turns over 120 °, i.e. thigh support portion 3 and calf support 4 into 60 °, for slide unit 9 to knee
Articulation pair is apart from l2Have：
Cos60 °=(1202+12-2402)÷2×120×l2
Solve：l2=276.3mm.
The offset 32.5mm of chute 10 and support bar 8 is removed, now slide unit 9 is away from knee joint revolute pair vertical direction
Actual range is：
It can determine in whole stroke, the air line distance that slide unit 9 is slided in chute 10 is：
l4=274.4mm-115.5mm=158.9mm
The other end fixing point of spring is away from knee joint revolute pair 60mm, then under total travel, the amount of tension of spring：
Initial length is 64.3mm, it is contemplated that the spring elongation limit and rigidity, and initial length is set into 100mm, line footpath
1.2mm, external diameter 10mm, every spring can provide 3.8kg pulling force, and symmetrically assembling 2 every leg, there is provided power-assisted.
Because the arrangement factor of each rod member needs with function, the Offset portion of the chute 10 of calf support 4 is in motion
During can interfere with thigh support portion 3, be that this opens up a horizontal groove, the end of groove on the top of chute 10 of calf support 4
Portion sets a bayonet socket 12, and the bayonet socket 12 is used to accommodate the bearing pin 13 being connected with the other end of elastic stretching part 11.
The main waistline data in the 50th hundredths somatic data of the size of bearing 1 are determined, using Thin Stainless Steel steel
Pipe is welded into U-shaped rod member with 90 ° of pipe joints.According to waist hip width, rod member longer sides length is 380mm, both sides shorter edge length
For 130mm.
Bearing 1 and human body are relatively fixed by fabric waistband 2, and by gaiter band 7 respectively by thigh support portion 3
Bound with the thigh and shank of calf support 4 and people, strengthen the comfortableness of wearing.Due to bearing 1 and the rank in thigh support portion 3
Go to action is connected to, therefore selection aluminium block processes two orthogonal manholes for meeting relative size, fills in through-holes
With bearing.
Leg support mechanism 5 is contacted with ground, and by ectoskeleton power assisting device, quality itself is passed to for the mechanism in design requirement
To ground, not to artificial into burden, it is therefore desirable to larger bearing-surface.To mitigate quality, the aluminium sheet that selection thickness is 3mm is system
Make material.Calf support 4 is attached to using aluminum corner brace and bolt connection.In addition, the platen surface of leg support mechanism 5 is carrying work(
During energy, objective table is used as.
Described above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (6)
1. a kind of ectoskeleton power assisting device, it is characterised in that：Including bearing, in bearing two ends difference connected legs mechanism；Each leg
Portion mechanism includes calf support and the setting being connected with the thigh support portion of bearing flexible connection, with thigh support subordinate end
Leg support mechanism in calf support lower end；Each thigh supporting part rear is hinged with support bar, the connection of the support bar other end
Slide unit located at calf support rear, is provided with chute on calf support length direction, and slide unit can be in cunning
Slided up and down in groove；Slide unit connects an elastic stretching part, and the elastic stretching part other end is articulated with calf support.
2. ectoskeleton power assisting device according to claim 1, it is characterised in that：Wherein, slide unit is to be installed on chute
An interior bearing pin；After chute extends along calf support to upper end, then extend to inner side, form horizontal groove, the transverse groove
End sets bayonet socket, and the bayonet socket is used to accommodate the bearing pin being connected with the elastic stretching part other end.
3. ectoskeleton power assisting device according to claim 1, it is characterised in that：Wherein, bearing inner ring is provided with waistband, greatly
Leg supporting part on the inside of calf support with being respectively arranged with gaiter band.
4. ectoskeleton power assisting device according to claim 1, it is characterised in that：Wherein, one group is additionally provided with bearing
Fixture, fixture is used to bearing being fixed on operating position.
5. ectoskeleton power assisting device according to claim 1, it is characterised in that：Wherein, thigh support portion and leg support
Portion is made up of channel-section steel, and backwards, elastic stretching part is located inside channel-section steel the opening of channel-section steel, the slide unit two ends of its end connection
It is stuck in the chute on channel-section steel.
6. the ectoskeleton power assisting device according to claim any one of 1-5, it is characterised in that：Wherein, elastic stretching part
For extension spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710365518.9A CN107116535A (en) | 2017-05-22 | 2017-05-22 | Ectoskeleton power assisting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710365518.9A CN107116535A (en) | 2017-05-22 | 2017-05-22 | Ectoskeleton power assisting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107116535A true CN107116535A (en) | 2017-09-01 |
Family
ID=59728614
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710365518.9A Pending CN107116535A (en) | 2017-05-22 | 2017-05-22 | Ectoskeleton power assisting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107116535A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111714337A (en) * | 2020-07-02 | 2020-09-29 | 扬州大学 | Exoskeleton old-person assisting device capable of assisting walking and sitting |
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|---|---|---|---|---|
| CN202288541U (en) * | 2011-10-31 | 2012-07-04 | 德林义肢矫形器（北京）有限公司 | Artificial limb knee joint |
| CN103330635A (en) * | 2013-06-26 | 2013-10-02 | 中国科学院合肥物质科学研究院 | Wear type lower limb assistant robot, folding method thereof and hand luggage for carrying |
| CN105904440A (en) * | 2016-05-26 | 2016-08-31 | 成都润惠科技有限公司 | Self-adaptation flexible joint exoskeleton device |
| CN106109181A (en) * | 2016-05-03 | 2016-11-16 | 袁博 | A kind of reset ectoskeleton joint and ectoskeleton power assisting device thereof |
| CN106493715A (en) * | 2016-12-20 | 2017-03-15 | 东南大学 | A kind of ESD for being suitable to exposure suit support |
| CN106625597A (en) * | 2016-12-20 | 2017-05-10 | 东南大学 | Knee joint power assisting device with automatically changed rigidity |
-
2017
- 2017-05-22 CN CN201710365518.9A patent/CN107116535A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202288541U (en) * | 2011-10-31 | 2012-07-04 | 德林义肢矫形器（北京）有限公司 | Artificial limb knee joint |
| CN103330635A (en) * | 2013-06-26 | 2013-10-02 | 中国科学院合肥物质科学研究院 | Wear type lower limb assistant robot, folding method thereof and hand luggage for carrying |
| CN106109181A (en) * | 2016-05-03 | 2016-11-16 | 袁博 | A kind of reset ectoskeleton joint and ectoskeleton power assisting device thereof |
| CN105904440A (en) * | 2016-05-26 | 2016-08-31 | 成都润惠科技有限公司 | Self-adaptation flexible joint exoskeleton device |
| CN106493715A (en) * | 2016-12-20 | 2017-03-15 | 东南大学 | A kind of ESD for being suitable to exposure suit support |
| CN106625597A (en) * | 2016-12-20 | 2017-05-10 | 东南大学 | Knee joint power assisting device with automatically changed rigidity |
Non-Patent Citations (1)
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| 辽宁省工人技术培训教材编委会: "《工人技术培训教材 机械基础》", 30 June 1983 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111714337A (en) * | 2020-07-02 | 2020-09-29 | 扬州大学 | Exoskeleton old-person assisting device capable of assisting walking and sitting |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170901 |