CN107283393A - Exoskeleton robot and its hip joint - Google Patents
Exoskeleton robot and its hip joint Download PDFInfo
- Publication number
- CN107283393A CN107283393A CN201610199972.7A CN201610199972A CN107283393A CN 107283393 A CN107283393 A CN 107283393A CN 201610199972 A CN201610199972 A CN 201610199972A CN 107283393 A CN107283393 A CN 107283393A
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- CN
- China
- Prior art keywords
- connector
- hip joint
- spring catch
- spring
- joint
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The invention provides exoskeleton robot and its hip joint, hip joint therein is including being used to connect the upper connector of waist member, driving diarthrodial lower connector and the elastomeric element being connected between upper connector and lower connector for connecting thigh, and the waist member passes sequentially through upper connector, elastomeric element and moved up and down relative to lower connector.Its waist member passes sequentially through upper connector, elastomeric element and moved up and down relative to lower connector, so constitute flexible hip joint design, it can make exoskeleton robot more fit human body, not only realize the holding function of robot waist, the structure design of robot can also be made more reasonable, the adaptability to changes that leg joint is produced is reached minimum.
Description
Technical field
The present invention relates to robot and its joint, more particularly to exoskeleton robot and its hip joint.
Background technology
At present, the robot of some helps mankind's carrying more multi-load is among development, and this is exoskeleton robot.
" exoskeleton robot " (Exoskeleton Robot) refers to be enclosed on the robot outside human body, also referred to as " can
The robot of wearing ".Ectoskeleton refers to for the biological hard outer for providing protection and support, referred to originally insect or
The bone of shellfish body exterior, with support and protective effect.Here exoskeleton robot is to wear people
A kind of power-assisted equipment with it, it has merged sensing, control, information, fusion, mobile computing, to be used as operation
The people of person provides a kind of complex art of wearable mechanical mechanism, and main function is enhancing function of human body, is made one
Heavy burden ability is greatly increased.
Current assistance type exoskeleton robot designs that are rigidly connected used in structure, such structure not soft enough more
Property, it is dumb.
The content of the invention
It is an object of the invention to provide a kind of exoskeleton robot hip joint, it has flexibility.
Another object of the present invention is to provide a kind of exoskeleton robot, it has flexible hip joint.
Exoskeleton robot includes the thigh driving joint of waist member, leg member and driving leg member motion,
A kind of hip joint applied on the exoskeleton robot is including the upper connector for connecting waist member, for even
Connect thigh and drive diarthrodial lower connector and the elastomeric element being connected between upper connector and lower connector, it is described
Waist member passes sequentially through upper connector, elastomeric element and moved up and down relative to lower connector.
The two ends of the length direction of the elastomeric element are connected respectively upper connector and lower connector.
The lower end of the elastomeric element is articulated with lower connector.
Fore-and-aft direction of the pivot center being hinged parallel to human body.
The elastomeric element includes spring catch and the spring being enclosed on the outside of spring catch；The lower end of the spring catch is hinged
In lower connector, the upper connector slip cap is mounted on the spring catch and supports the upper end of the spring.
The upper end of the spring catch, which is provided with, prevents the upper connector from departing from the locating part of the spring catch.
The upper connector is sliding sleeve, and the spring catch is screw rod, and the spring is helical spring, the screw rod
Being provided with threaded upper ends prevents the sliding sleeve from departing from the nut of the screw rod.
The lower end of the spring catch is connected with U-shaped articulated elements, and the lower connector is sheet connector, described
Shape connector is inserted to be hinged in the U-shaped articulated elements with U-shaped articulated elements.
The lower end of the spring catch offers through hole, and the upper end of the U-shaped articulated elements offers bolt hole, described
U-shaped articulated elements is fixedly connected by bolt in bolt hole, through hole with spring catch.
The lower connector includes the upper connection sheet and lower connection sheet being fixedly connected, and the upper connection sheet inserts the U
It is hinged in shape articulated elements with U-shaped articulated elements, the lower connection sheet is used to be fixedly connected with the thigh driving joint simultaneously
Parallel to human body fore-and-aft direction.
Exoskeleton robot, including waist member, leg member, driving leg member motion thigh driving joint,
The hip joint between thigh driving joint and waist member is connected to, the hip joint closes for the above-mentioned hip of any one
Section.
The upper connector is integrated setting with waist member.
According to the present invention exoskeleton robot and its hip joint, wherein, waist member pass sequentially through upper connector,
Elastomeric element is moved up and down relative to lower connector, so constitutes flexible hip joint design, it can make outer
Bone robot more fits human body, not only realizes the holding function of robot waist, can also make the knot of robot
Structure design is more reasonable, the adaptability to changes that leg joint is produced is reached minimum.
Brief description of the drawings
The above and other features of the present invention, property and advantage are by by with reference to the accompanying drawings and examples
Describe and become readily apparent from, wherein：
Fig. 1 is the stereogram according to exoskeleton robot in one embodiment of the invention；
Fig. 2 is the exploded view of hip joint in Fig. 1；
Fig. 3 is the front view of hip joint in Fig. 1.
Embodiment
With reference to specific embodiments and the drawings, the invention will be further described, elaborates in the following description more
Many details are to facilitate a thorough understanding of the present invention, still the present invention obviously can be with a variety of different from the other of this description
Mode is implemented, and those skilled in the art can be in the case of without prejudice to intension of the present invention according to practical situations
Make similar popularization, deduction, therefore should not be limited the scope of the invention with the content of this specific embodiment.
It should be noted that accompanying drawing is only as an example, it is drawn according to the condition of equal proportion, and
It should not be construed as limiting in this, as the protection domain to actual requirement of the present invention.
Exoskeleton robot shown in Fig. 1 can be all or part of of complete exoskeleton robot,
It can increase upper limbs part as needed, to aid in human body to realize upper limks movements.It illustrate only in Fig. 1
The executing agency of robot, network system therein, battery pack, motor and decelerator, sensor etc. can bases
Existing to design to arrange, the exoskeleton robot shown in Fig. 1 can help people to walk, stand up, sit down.
It can be widely used as power-assisted machine, such as military field or sphere of life, for example, can set
The power-assisted size for being set to device is set by control system, and product development is carried out for the customer of lower limb paralysis.
As shown in figure 1, the exoskeleton robot in embodiments in accordance with the present invention includes waist member 1, thigh structure
Part 3, small leg member 4 and foot part component 5, the structure left and right sides in Fig. 1 are symmetrical arranged.Waist member
Joint 6 is driven to connect by hip joint 2, thigh between 1 and leg member 3, leg member 3 and small leg member
4 drive joint 7 to connect by shank, small leg member 4 drives joint 8 to be connected with foot part component 5 by foot.
Hip joint 2 includes upper connector, lower connector and elastomeric element.As shown in Fig. 2 upper connector is cunning
Set 22, lower connector includes upper connection sheet 26 and lower connection sheet 27.Elastomeric element includes spring catch 24 and set
Spring 23 on the outside of spring catch.In the preferred embodiment shown in figure 2, the two of the length direction of elastomeric element
End is connected respectively upper connector and lower connector.In another embodiment, it is not limited to the length side of elastomeric element
To as long as flexible part realizes that waist member flexibly can be moved up and down relative to upper connector.
The upper end of spring catch 24 is slidably matched with being fixed on the sliding sleeve 22 of waist member 1, and its top is connected with nut 21,
For preventing spring catch 24 from being come off with sliding sleeve 22.Sliding sleeve 22 can be made of one with waist member 1.
With continued reference to Fig. 2, the lower end of spring catch 24 is hinged with upper connection sheet 26, and the diameter parallel that it is hinged is in Y
Axle, Y-axis is generally in industry defined as the fore-and-aft direction of human body, and this, which is hinged, is advantageously implemented turning for leg member
The dynamic free degree.Upper connection sheet 26 is further fixedly connected in lower connection sheet 27, and lower connection sheet 27 is fixed on greatly
On leg driving joint 6, parallel to the fore-and-aft direction of human body, in favor of the thigh driving driving of joint 6 leg member 3
Motion.The lower end of lower connection sheet 27, upper connection sheet 26 and spring catch 24 can be made of one, from manufacture
For angle, its split is manufactured, manufacturing process is more simple.Lower connection sheet 27, upper connection sheet 26 can also
It is considered as the fixed component on thigh driving joint 6.
Spring catch 24 can be screw rod, and its top is connected with nut 21, and end is welded or mistake again on the downside of screw rod
Be full of cooperation or other rigid connections be connected to the 3rd connector 25, the 3rd connector 25 generally takes the shape of the letter U,
Pin 251 is through the 3rd connector 25 and the upper connection sheet 26 being inserted into the 3rd connector 25, so as to be formed
It is hinged.In a preferred embodiment, the lower end of spring catch 24 offers through hole, the upper end of the 3rd connector 25
Bolt hole is offered, the 3rd connector 25 is arranged on bolt hole, the spring catch of the 3rd connector 25 by bolt
It is fixedly connected in 24 through hole with spring catch 24, to facilitate dismounting.
As shown in figure 3, spring 23 is compressed by sliding sleeve 22 or waist member 1, the stroke tool of its elastic deformation
Have certain limitations, the structure shown in Fig. 3 includes four frees degree, and spring catch 24, the spring 23 of both sides are formed
Two free sliding degree, and pin 251 be hinged upper connector 26, the 3rd connector 25 formation two
Rotational freedom.The connection component of hip joint realizes flexible connection by spring catch 24 and spring 23, still
It is appreciated that the joint not only realizes flexible connection, even if while the flexible connection there can be two freedom
Degree is without making structural instability.This design, makes exoskeleton robot closer to human skeleton structure,
By being hinged for the bottom of spring catch 24 and the vertical direction of leg member 3, the rotation of leg member 3 is realized,
Spring 23 is added at spring catch 24 in addition, the flexible connection of leg member 3 and waist member 1 can be achieved,
The design avoids actuation redundancy problem of the robot in action process well, make each joint of robot by
Power is more uniform, and stability is more preferable；Connect because the two ends of the length direction in elastomeric element are connected respectively
Fitting and lower connector, elastomeric element are flexible in the length direction of elastomeric element, and the lower end hinge of elastomeric element
It is connected to lower connector, so constitutes flexible hip joint design, it can makes exoskeleton robot more fit human body,
The holding function of robot waist is not only realized, the structure design of robot can also be made more reasonable, make leg
The adaptability to changes that joint is produced reaches minimum.
In other embodiments of the invention, the nut on the top of spring catch 24 can be cancelled in some occasions, example
As the long enough of spring catch 24, or nut could alternatively be riveting parts or other position limiting structures.
In other embodiments of the invention, spring catch 24 and spring 23 could alternatively be other elastomeric elements,
The elastomeric element is only flexible in length direction.
It is understood that unless otherwise defined, otherwise all technical terms used herein have with
The identical implication that one of ordinary skill in the art is generally understood.Specific work is described in present application
With, device, but any mechanism similar or of equal value with effect specifically described herein and device can be in this technology
Used in practice.Although in considerable detail and by illustrating the embodiment come description technique, being stated
It is bright to be only used for being expressly understood, and be not intended to limit.Passed in the de-scription using various terms to this
The understanding of technology, it should be appreciated that the implication of the various terms extends to the common languages or grammer of various terms
Change or form.It will also be appreciated that when term refers to device or equipment, the term or name are referred to as the present age
Example and provide, and this technology step is not limited by the literal scope.The term used will be managed
Xie Weiyi is by contemporary term description now, and these terms can be reasonably understood that as contemporary term or contemporary term institute
Comprising system subset name derivative.Further, although to facilitate the understanding provided to technology, example
Research such as on exoskeleton robot, it has been suggested that some Theory Thinkings, but amendment claims are not by institute
State the limitation of theory.In addition, in the case where not departing from the scope of disclosed technology, any implementation of technology
Any one or more features of mode can with any embodiment of technology any one or more other
Combinations of features.Further, it should be appreciated that this technology is not limited to the embodiment illustrated for illustration,
But this technology to the fair deciphering of present application for patent appended claims only by defining, including by this skill
The equal authenticity for the gamut that each element of art is entitled to.
Claims (12)
1. a kind of hip joint applied on exoskeleton robot, the exoskeleton robot include waist member,
Leg member and the thigh driving joint of driving leg member motion, it is characterised in that the hip joint includes being used for
Connect the upper connector of waist member, for connecting the diarthrodial lower connector of thigh drive and being connected to upper connector
Elastomeric element between lower connector, the waist member passes sequentially through upper connector, elastomeric element relative under
Connector is moved up and down.
2. hip joint as claimed in claim 1, it is characterised in that the two of the length direction of the elastomeric element
End is connected respectively upper connector and lower connector.
3. hip joint as claimed in claim 1, it is characterised in that the lower end of the elastomeric element is articulated with down
Connector.
4. hip joint as claimed in claim 3, it is characterised in that the pivot center being hinged is parallel to people
The fore-and-aft direction of body.
5. hip joint as claimed in claim 1, it is characterised in that the elastomeric element include spring catch and
It is enclosed on the spring on the outside of spring catch；The lower end of the spring catch is articulated with lower connector, the upper connector slip cap
On the spring catch and support the upper end of the spring.
6. hip joint as claimed in claim 5, it is characterised in that the upper end of the spring catch is provided with and prevented
The upper connector departs from the locating part of the spring catch.
7. hip joint as claimed in claim 5, it is characterised in that the upper connector is sliding sleeve, the bullet
Spring pin is screw rod, and the spring is to be provided with to prevent the sliding sleeve from taking off at helical spring, the threaded upper ends of the screw rod
From in the nut of the screw rod.
8. hip joint as claimed in claim 5, it is characterised in that the lower end of the spring catch is connected with U-shaped
Articulated elements, the lower connector is sheet connector, the sheet connector insert in the U-shaped articulated elements with
U-shaped articulated elements is hinged.
9. hip joint as claimed in claim 8, it is characterised in that the lower end of the spring catch offers through hole,
The upper end of the U-shaped articulated elements offers bolt hole, the U-shaped articulated elements by bolt be arranged on bolt hole,
It is fixedly connected in through hole with spring catch.
10. hip joint as claimed in claim 8, it is characterised in that the lower connector includes what is be fixedly connected
Upper connection sheet and lower connection sheet, the upper connection sheet is inserted to be hinged in the U-shaped articulated elements with U-shaped articulated elements,
The lower connection sheet is used to be fixedly connected with the thigh driving joint and parallel to human body fore-and-aft direction.
11. exoskeleton robot, including waist member, leg member, the thigh of driving leg member motion drive
Movable joint, the hip joint being connected between thigh driving joint and waist member, it is characterised in that the hip joint
For the hip joint as described in claim any one of 1-10.
12. exoskeleton robot as claimed in claim 11, it is characterised in that the upper connector and waist
Component is integrated setting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610199972.7A CN107283393A (en) | 2016-03-31 | 2016-03-31 | Exoskeleton robot and its hip joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610199972.7A CN107283393A (en) | 2016-03-31 | 2016-03-31 | Exoskeleton robot and its hip joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107283393A true CN107283393A (en) | 2017-10-24 |
Family
ID=60087011
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610199972.7A Withdrawn CN107283393A (en) | 2016-03-31 | 2016-03-31 | Exoskeleton robot and its hip joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107283393A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108247618A (en) * | 2018-04-12 | 2018-07-06 | 昆山市科洛克机器人科技有限公司 | It is a kind of to mitigate back and the lower limb exoskeleton of knee joint load |
| CN111166613A (en) * | 2020-01-20 | 2020-05-19 | 深圳市丞辉威世智能科技有限公司 | Locking mechanism and power exoskeleton rehabilitation robot |
| CN113787528A (en) * | 2021-09-18 | 2021-12-14 | 上海电机学院 | Bionic penguin robot |
-
2016
- 2016-03-31 CN CN201610199972.7A patent/CN107283393A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108247618A (en) * | 2018-04-12 | 2018-07-06 | 昆山市科洛克机器人科技有限公司 | It is a kind of to mitigate back and the lower limb exoskeleton of knee joint load |
| CN108247618B (en) * | 2018-04-12 | 2021-12-10 | 昆山市科洛克机器人科技有限公司 | Lower limb exoskeleton capable of reducing load of back and knee joint |
| CN111166613A (en) * | 2020-01-20 | 2020-05-19 | 深圳市丞辉威世智能科技有限公司 | Locking mechanism and power exoskeleton rehabilitation robot |
| CN111166613B (en) * | 2020-01-20 | 2022-05-27 | 深圳市丞辉威世智能科技有限公司 | Locking mechanism and power exoskeleton rehabilitation robot |
| CN113787528A (en) * | 2021-09-18 | 2021-12-14 | 上海电机学院 | Bionic penguin robot |
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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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20171024 |
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| WW01 | Invention patent application withdrawn after publication |