CN107243889A - Heavy burden exoskeleton robot - Google Patents
Heavy burden exoskeleton robot Download PDFInfo
- Publication number
- CN107243889A CN107243889A CN201710598443.9A CN201710598443A CN107243889A CN 107243889 A CN107243889 A CN 107243889A CN 201710598443 A CN201710598443 A CN 201710598443A CN 107243889 A CN107243889 A CN 107243889A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- drive system
- cylinder
- hinged
- shaped
- 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.)
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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
Abstract
The invention discloses a kind of heavy burden exoskeleton robot, including upper body back, left leg and right leg, left leg and right leg include hip drive system, thigh drive system and shank drive system respectively, the upper body back includes T-shaped post, back bracket, back waistband and side plate, the side plate is fixed on back bracket both sides, the back waistband is connected on side plate, it is T-shaped column articulated in back bracket bottom, swing, the present invention, it is simple in construction, it is easy to use, cost is low, helps people to complete heavy physical labour.
Description
Technical field
The invention belongs to the technical field of industrial robot, specially a kind of heavy burden exoskeleton robot.
Background technology
Substantial amounts of research has been carried out in terms of lower limb exoskeleton power assisting device both at home and abroad at present, action has especially been exclusively used in not
The research in the fields such as patient, the healing robot of disabled person, medical auxiliary apparatus just is commonplace, and these devices generally have
Mechanical strength less, with the compatible degree of human body and comfortableness it is not high, need to make to measure with cost it is higher the characteristics of, and for can
So that in an outdoor environment, the loading-type power-assisting robot of auxiliary human motion then studies less.Therefore, in complicated geographical environment and
Under bad working environments, the carrying of goods and materials will be completed by people, but when carrying, muscle power is limited due to people, inefficiency.
Robot cost is high, helps people to complete heavy physical labour.
The content of the invention
It is an object of the invention to provide a kind of heavy burden exoskeleton robot, cost is low, helps people to complete the physical labor of weight
It is dynamic.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：
A kind of heavy burden exoskeleton robot, including upper body back, left leg and right leg, left leg and right leg include hip and driven respectively
Dynamic system, thigh drive system and shank drive system, wherein：
The upper body back includes T-shaped post, back bracket, back waistband and side plate, and the side plate is fixed on back bracket
Both sides, the back waistband is connected on side plate, T-shaped column articulated in back bracket bottom, is swung；
The hip drive system includes L-shaped connecting rod, cylinder, and the short side of L-shaped connecting rod is hinged on T-shaped column bottom one
Side, cylinder is fixed on T-shaped post, and piston end and the short side of L-shaped connecting rod are hinged；
Thigh drive system includes two connecting rods, two cylinders, and two connecting rods are hinged, wherein a connecting rod and L
The long side of shape connecting rod is hinged, and two cylinders are separately fixed at another connecting rod both sides, the piston ends of two cylinders respectively to
It is upper and down-set, set up piston end and be connected with the long side of L-shaped connecting rod, down-set piston end and shank drive system
It is hinged；
Shank drive system includes mounting blocks, connecting rod, cylinder, vola and fixing band, and mounting blocks are hinged on thigh driving
At the top of the bottom of system, the connecting rod for being fixed on shank drive system, vola is hinged with connecting rod bottom, and cylinder is fixed on connection
On bar, piston end is fixed on vola, and fixing band is arranged in connecting rod.
Further, the thigh drive system is provided with fixing band.
Further, power system and control system, the power system bag are additionally provided with the back bracket back side
Solar panel, battery, controller and inverter are included, the solar panel absorbs luminous energy, by inverter by electricity
Source is delivered to battery, and the controller controls whole charge and discharge process, and the control system includes CPU, angular transducer, added
Velocity sensor, cylinder controller, the angular transducer are arranged on mounting blocks, and the rotational angle of mounting blocks is driven to
CPU, the acceleration transducer is arranged in back bracket, is connected with CPU, and cylinder controller is arranged on cylinder, and is connect
By CPU controls.
Further, installation cavity is provided with the back bracket, power system and control system are embedded in installation cavity
It is interior, and fixation is positioned using screw, the solar panel closes installation cavity.
The beneficial effects of the invention are as follows：
Simple in construction, easy to use, cost is low, helps people to complete heavy physical labour.
Brief description of the drawings
Fig. 1 is schematic diagram of the present invention.
Fig. 2 is back bracket schematic diagram of the present invention.
Fig. 3 is control system control principle schematic diagram of the present invention.
Fig. 4 is power system schematic diagram of the present invention.
Embodiment
Embodiments of the invention are described in detail below in conjunction with accompanying drawing, but the present invention can be defined by the claims
Implement with the multitude of different ways of covering.
As shown in drawings, a kind of heavy burden exoskeleton robot, including upper body back 1, left leg 2 and right leg 3, left leg 2 and the right side
Leg 3 includes hip drive system 4, thigh drive system 5 and shank drive system 6 respectively, wherein：
Upper body back 1 includes T-shaped post 10, back bracket 11, back waistband 12 and side plate 13, and side plate fixes 13 in back branch
The both sides of frame 11, back waistband 12 is connected on side plate 13, and T-shaped post 10 is hinged on the bottom of back bracket 11, swings.
Hip drive system 4 includes L-shaped connecting rod 40, cylinder 7, and the short side of L-shaped connecting rod 40 is hinged on the bottom of T-shaped post 10
Side, cylinder 7 is fixed on T-shaped post 40, and piston end and the short side of L-shaped connecting rod 40 are hinged.
Thigh drive system 5 includes two connecting rods 50, two cylinders 7, and two connecting rods 50 are hinged, wherein a connection
Bar 50 and the long side of L-shaped connecting rod 40 are hinged, and two cylinders 7 are separately fixed at another both sides of connecting rod 50, two cylinders 7
Piston end is set up and down respectively, is set up piston end and is connected with the long side of L-shaped connecting rod 40, down-set piston end
It is hinged with shank drive system 6.
Shank drive system 6 includes mounting blocks 60, connecting rod 61, cylinder 7, vola 62 and fixing band 63, and mounting blocks 60 are cut with scissors
The bottom of thigh drive system 5 is connected on, the top of connecting rod 61 of shank drive system 6, vola 62 and the bottom of connecting rod 61 is fixed on
Portion is hinged, and cylinder 7 is fixed in connecting rod 61, and piston end is fixed on vola 62, and fixing band 63 is arranged in connecting rod 61.
Thigh drive system 5 is provided with fixing band 63.
Power system 8 and control system 9 are additionally provided with the back side of back bracket 11, power system 8 includes solar cell
Plate 80, battery 81, controller 82 and inverter 83, solar panel 80 absorb luminous energy, by inverter 83 that power supply is defeated
Battery 81 is delivered to, controller 82 controls whole charge and discharge process, and control system 9 includes CPU 90, angular transducer 91, accelerated
Sensor 92 is spent, angular transducer 91 is arranged on mounting blocks 60, and the rotational angle of mounting blocks 60 is driven into CPU 90, is accelerated
Spend sensor 92 to be arranged in back bracket 11, be connected with CPU 90, installation cavity 14, power system are provided with back bracket 11
8 and control system 9 be embedded in installation cavity 14, and using screw position fix, solar panel 80 closing installation cavity
14。
Cylinder controller 93 is connected with each cylinder 7, the unlatching and stopping of each cylinder 7 is controlled respectively, according to human motion
Action, wherein CPU 90 is connected with cylinder controller 93, controls the action of cylinder 7, completes motor performance, control system control gas
Cylinder 7 provides power-assisted for human motion, saves human physical power.
The embodiments of the present invention described above are not intended to limit the scope of the present invention, any in the present invention
Spirit and principle within the modifications, equivalent substitutions and improvements made etc., should be included in the claim protection model of the present invention
Within enclosing.
Claims (4)
1. a kind of heavy burden exoskeleton robot, it is characterised in that including upper body back, left leg and right leg, left leg and right leg difference
Including hip drive system, thigh drive system and shank drive system, wherein：
The upper body back includes T-shaped post, back bracket, back waistband and side plate, and the side plate is fixed on back bracket both sides,
The back waistband is connected on side plate, T-shaped column articulated in back bracket bottom, is swung；
The hip drive system includes L-shaped connecting rod, cylinder, and the short side of L-shaped connecting rod is hinged on T-shaped column bottom side, gas
Cylinder is fixed on T-shaped post, and piston end and the short side of L-shaped connecting rod are hinged；
Thigh drive system includes two connecting rods, two cylinders, and two connecting rods are hinged, wherein a connecting rod connects with L-shaped
The long side of extension bar is hinged, and two cylinders are separately fixed at another connecting rod both sides, the piston ends of two cylinders respectively upwards and
It is down-set, set up piston end and be connected with the long side of L-shaped connecting rod, down-set piston end is cut with scissors with shank drive system
Connect；
Shank drive system includes mounting blocks, connecting rod, cylinder, vola and fixing band, and mounting blocks are hinged on thigh drive system
Bottom, be fixed at the top of the connecting rod of shank drive system, vola is hinged with connecting rod bottom, and cylinder is fixed on connecting rod
On, piston end is fixed on vola, and fixing band is arranged in connecting rod.
2. heavy burden exoskeleton robot according to claim 1, it is characterised in that the thigh drive system is provided with solid
Determine band.
3. heavy burden exoskeleton robot according to claim 1, it is characterised in that also set up at the back bracket back side
There are power system and control system, the power system includes solar panel, battery, controller and inverter, described
Solar panel absorbs luminous energy, power supply is delivered into battery by inverter, the controller controls whole discharge and recharge
Journey, the control system includes CPU, angular transducer, acceleration transducer, cylinder controller, and the angular transducer is installed
On mounting blocks, the rotational angle of mounting blocks is driven into CPU, the acceleration transducer is arranged in back bracket, with CPU
Connection, cylinder controller is arranged on cylinder, and receives CPU controls.
4. heavy burden exoskeleton robot according to claim 3, it is characterised in that installation is provided with the back bracket
Chamber, power system and control system are embedded in installation cavity, and position fixation, the solar panel envelope using screw
Close installation cavity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710598443.9A CN107243889A (en) | 2017-07-21 | 2017-07-21 | Heavy burden exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710598443.9A CN107243889A (en) | 2017-07-21 | 2017-07-21 | Heavy burden exoskeleton robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107243889A true CN107243889A (en) | 2017-10-13 |
Family
ID=60015185
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710598443.9A Pending CN107243889A (en) | 2017-07-21 | 2017-07-21 | Heavy burden exoskeleton robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107243889A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117428742A (en) * | 2023-12-07 | 2024-01-23 | 中国人民解放军东部战区空军医院 | Hybrid power exoskeleton for battlefield rescue |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1586434A (en) * | 2004-08-10 | 2005-03-02 | 浙江大学 | Lower limb walking external skeleton capable of being worn |
| 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 |
| CN103610524A (en) * | 2013-12-16 | 2014-03-05 | 哈尔滨工业大学 | Portable energy-storage type external skeleton assisting robot |
| CN106264989A (en) * | 2016-07-29 | 2017-01-04 | 瑞安市智造科技有限公司 | A kind of lower limb exoskeleton power-assisting robot |
| CN106333829A (en) * | 2016-09-20 | 2017-01-18 | 合肥工业大学 | Ectoskeletal multi-degree-of-freedom lower limb rehabilitation power-assisted mechanism |
| CN205968998U (en) * | 2016-08-22 | 2017-02-22 | 中国人民解放军63908部队 | Low limbs helping hand ectoskeleton robot |
| CN206183606U (en) * | 2016-08-17 | 2017-05-24 | 中国人民解放军63908部队 | Low limbs ectoskeleton robot |
| CN106726363A (en) * | 2017-03-13 | 2017-05-31 | 东北大学 | A kind of wearable bionical hydraulic pressure lower limb rehabilitation walk help mechanical device |
-
2017
- 2017-07-21 CN CN201710598443.9A patent/CN107243889A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1586434A (en) * | 2004-08-10 | 2005-03-02 | 浙江大学 | Lower limb walking external skeleton capable of being worn |
| 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 |
| CN103610524A (en) * | 2013-12-16 | 2014-03-05 | 哈尔滨工业大学 | Portable energy-storage type external skeleton assisting robot |
| CN106264989A (en) * | 2016-07-29 | 2017-01-04 | 瑞安市智造科技有限公司 | A kind of lower limb exoskeleton power-assisting robot |
| CN206183606U (en) * | 2016-08-17 | 2017-05-24 | 中国人民解放军63908部队 | Low limbs ectoskeleton robot |
| CN205968998U (en) * | 2016-08-22 | 2017-02-22 | 中国人民解放军63908部队 | Low limbs helping hand ectoskeleton robot |
| CN106333829A (en) * | 2016-09-20 | 2017-01-18 | 合肥工业大学 | Ectoskeletal multi-degree-of-freedom lower limb rehabilitation power-assisted mechanism |
| CN106726363A (en) * | 2017-03-13 | 2017-05-31 | 东北大学 | A kind of wearable bionical hydraulic pressure lower limb rehabilitation walk help mechanical device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117428742A (en) * | 2023-12-07 | 2024-01-23 | 中国人民解放军东部战区空军医院 | Hybrid power exoskeleton for battlefield rescue |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhang Fan Inventor after: Yang Hao Inventor after: Ji Yong Inventor after: Zhang Qianqian Inventor before: Yang Hao Inventor before: Zhang Fan Inventor before: Ji Yong Inventor before: Zhang Qianqian |
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| CB03 | Change of inventor or designer information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171013 |
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| RJ01 | Rejection of invention patent application after publication |