CN107351067A - Doctor's posture towards operation application keeps force aid system - Google Patents
Doctor's posture towards operation application keeps force aid system Download PDFInfo
- Publication number
- CN107351067A CN107351067A CN201710733020.3A CN201710733020A CN107351067A CN 107351067 A CN107351067 A CN 107351067A CN 201710733020 A CN201710733020 A CN 201710733020A CN 107351067 A CN107351067 A CN 107351067A
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- Prior art keywords
- module
- wedge
- gear
- doctor
- aid system
- Prior art date
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- 210000003141 lower extremity Anatomy 0.000 claims abstract description 19
- 210000000689 upper leg Anatomy 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 239000000725 suspension Substances 0.000 claims abstract description 12
- 210000002414 leg Anatomy 0.000 claims abstract description 11
- 229910052751 metal Inorganic materials 0.000 claims description 4
- 239000002184 metal Substances 0.000 claims description 4
- 238000007599 discharging Methods 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 15
- 230000000694 effects Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 241000826860 Trapezium Species 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
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 present invention relates to a kind of doctor's posture towards operation application to keep force aid system, including lower limb supporting mechanism and upper body suspension gear, lower limb supporting mechanism includes the sole supporting module set gradually from bottom to top, leg support module, thigh support module and lumbar support module, two neighbouring supporting modules are rotatably connected, one of which is provided with brake disc, drive device, first gear, brake block, another one is provided with second gear, first, two gears are intermeshed, the gear shaft of one of which is coaxially disposed with rotation axis, upper body suspension gear includes support, support is provided with rope draw off gear and back-supported module.After user dresses this device, human body lower limbs need lower limb supporting mechanism during motion to unlock, and lower limb supporting mechanism follows human body lower limbs to move；Each joint locking when human body lower limbs need to keep a certain posture, support is provided for human body, the posture of upper body suspension gear realizes the support to human body upper body, so as to reduce the physical consumption of user.
Description
Technical field
The invention belongs to posture to keep power-assisted field, and in particular to a kind of doctor's posture towards operation application keeps power-assisted
System.
Background technology
At present, the research both at home and abroad for exoskeleton robot deepens constantly, but it is inconvenient walking mostly using object
The elderly, have a patient of limb movement disturbance or a personnel that needs bear a heavy burden, and for the ectoskeleton power assistive device of medical worker
But seldom or almost do not have.
Functionally, it can realize that human body needs system during motion to follow human body there is presently no a kind of force aid system
Motion, human body need to keep system during a certain posture to provide the function of supporting for human body.
In type of drive, existing ectoskeleton equipment is mostly by motor driving, hydraulic-driven or the air pressure in each joint
The active movement in each joint is realized in driving, and required power of motor is big during each joint motions of direct drive ectoskeleton, high energy consumption, such as Sa
The ectoskeleton XOS that Ces Co., Ltd develops can only be used 40 minutes using the battery carried.
Doctor needs to keep a certain posture for a long time when performing an operation, and after the completion of an operation, often all muscle is tired by doctor
Overcome even powerless standing.If things go on like this, serious damage can be caused to the body of doctor.Therefore, it is badly in need of a kind of power assisting device
Reduce physical consumption of the doctor in surgical procedure.
The content of the invention
It is an object of the invention to provide a kind of doctor's posture towards operation application to keep force aid system, and user dresses this
After device, human body lower limbs need lower limb supporting mechanism during motion to unlock, and lower limb supporting mechanism follows human body lower limbs to move；Under human body
Each joint locking when limb needs to keep a certain posture, support is provided for human body, the posture of upper body suspension gear is realized on human body
The support of body, so as to reduce the physical consumption of user.
To achieve the above object, technical scheme is as follows：A kind of doctor's posture towards operation application keeps helping
Force system, including：
- lower limb supporting mechanism, it includes the sole supporting module, leg support module, thigh set gradually from bottom to top
Supporting module and lumbar support module, two neighbouring supporting modules are rotatably connected, and one of which is provided with it can relatively
First gear that the brake disc of rotation, drive device of its relative fixation, relatively described brake disc are fixed, in the drive device
Brake or discharge the brake block of the brake disc under effect, another one is provided with second gear of its relative fixation, and described first, two
Gear is intermeshed, and the gear shaft of one of which and the rotation axis of its corresponding two neighbouring supporting module are coaxially set
Put；
- upper body suspension gear, it includes support, and the support is provided with the rope draw off gear of its relative fixation and hung on
Back-supported module on the rope of the rope draw off gear.
In above-mentioned technical proposal, vertically drive connection has wedge A, the wedge A edges to the drive device
Horizontal direction drive connection has wedge B, and the brake block is located at the side of the brake disc, and one end of the brake block can turn
Dynamic to be connected in its corresponding supporting module, the other end is fixedly connected on the wedge B.
In above-mentioned technical proposal, the drive device includes motor, and its clutch end connects a screw mandrel, the wedge
A rotation shiftings are connected on the screw mandrel.
In above-mentioned technical proposal, the output end of the motor is connected with decelerator, the clutch end of the decelerator with
The power intake of the screw mandrel is connected by V belt translation component.
In above-mentioned technical proposal, it is symmetrical arranged the two wedge A along the horizontal radial of the brake disc and is symmetrical arranged
The two wedge B, the two wedge A are relatively fixed to form a wedge-shaped frame, wedge-shaped described in the drive device drive connection
Frame, wedge B described in the two wedge A difference drive connections two.
In above-mentioned technical proposal, the lumbar support module is arranged to one of arc tabular, the sole supporting module,
Leg support module and thigh support module are disposed as two of flat two and each tabular module along described
The horizontal radial of arc tabular module is symmetrical arranged.
In above-mentioned technical proposal, the support is provided with fixed pulley, and the rope bypasses the fixed pulley.
In above-mentioned technical proposal, the back-supported module is in vest shape.
In above-mentioned technical proposal, in addition to body chassis, the body chassis are Omni-mobile chassis.
In above-mentioned technical proposal, the body chassis includes metal base plate and four Mecanum wheels, four Mikes
Na Mu wheels are operated alone by four motors respectively.
By such scheme, the present invention at least has advantages below：Doctor's appearance disclosed by the invention towards operation application
State keeps force aid system, and can reduce operative doctor or other needs to keep the personnel of a certain posture for a long time in the course of the work
Physical consumption.Wearer only needs to input the working condition of simple instruction can control whole system, can both realize
Body suspension arrangement and lower limb supporting mechanism closely follow human body to make various motion, and it is human body that can realize system remains stationary again
Support is provided so as to reduce the effect of wearer's physical consumption.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
Brief description of the drawings
Fig. 1 is the use state figure that doctor's posture disclosed by the invention towards operation application keeps force aid system.
Fig. 2 is the structural representation of lower limb supporting mechanism disclosed by the invention；
Fig. 3 is the schematic front view of two neighbouring supporting modules disclosed by the invention；
Fig. 4 is the schematic side view of two neighbouring supporting modules disclosed by the invention；
Fig. 5 is the structural representation of upper body suspension gear disclosed by the invention；
Fig. 6 is the structural representation on chassis disclosed by the invention.
In the figures above, 10, lower limb supporting mechanism；11st, sole supporting module；12nd, leg support module；13rd, thigh branch
Hold mode block；14th, lumbar support module；20th, upper body suspension gear；21st, support；22nd, rope draw off gear；23rd, back-supported mould
Block；24th, fixed pulley；25th, rope；30th, body chassis；31st, metal chassis；32nd, Mecanum wheel；33rd, motor；100th, joint；
101st, brake disc；102nd, drive device；103rd, first gear；104th, brake block；105th, second gear；106th, wedge A；107、
Wedge B；108th, screw mandrel；109th, decelerator；110-1, belt wheel；110-2, belt；110-3, belt wheel；111st, fixed seat；112、
The axis of guide；113rd, guide shaft support；114th, slide rail；115th, nut；116th, connecting rod；117th, steady pin；118th, planetary gear train.
Embodiment
With reference to the accompanying drawings and examples, the embodiment of the present invention is described in further detail.Implement below
Example is used to illustrate the present invention, but is not limited to the scope of the present invention.
Embodiment one
Referring to Fig. 1 to Fig. 6, as shown in legend therein, a kind of doctor's posture towards operation application keeps force aid system,
Including：
- lower limb supporting mechanism 10, it includes sole supporting module 11, the leg support module set gradually from bottom to top
12nd, thigh support module 13 and lumbar support module 14, two neighbouring supporting modules are rotatably connected, and one of which is set
There is the first gear that its relative rotatable brake disc 101, the drive device 102 of its relative fixation, relative brake disk 101 are fixed
103rd, the brake block 104 of braking or release brake disc 101 under the effect of drive device 102, another one are provided with its relative fixation
Second gear 105, the first, the intermeshing of two gears 103,105, the gear shaft of one of which with its corresponding neighbouring two
The rotation axis of supporting module is coaxially disposed；
- upper body suspension gear 20, it includes support 21, and support 21 is provided with the rope draw off gear 22 of its relative fixation and hanged
The back-supported module 23 being hung on the rope of rope draw off gear 22.
In a kind of embodiment, vertically drive connection one wedge A106, the wedge A106 edges of drive device 102
The wedge B107 of horizontal direction drive connection one, brake block 104 are located at the side of brake disc 101, and one end of brake block 104 can turn
Dynamic to be connected in its corresponding supporting module, the other end is fixedly connected on wedge B107.
In a kind of embodiment, drive device 102 includes motor, and its clutch end connects a screw mandrel 108, wedge
A106 rotation shiftings are connected on screw mandrel 108.
In a kind of embodiment, the output end of motor is connected with decelerator 109, the clutch end and silk of decelerator 109
The power intake of bar 108 is connected by V belt translation component.
In a kind of embodiment, it is symmetrical arranged two wedge A106 along the horizontal radial of brake disc 101 and is symmetrical arranged two
Wedge B107, two wedge A106 are relatively fixed to form a wedge-shaped frame, the drive connection wedge shape frame of drive device 102, two wedge shapes
Block A106 difference drive connections two wedge B107.
In a kind of embodiment, lumbar support module 14 is arranged to one of arc tabular, sole supporting module 11, shank
Supporting module 12 and thigh support module 13 are disposed as two of flat two and each tabular module arcuately
The horizontal radial of tabular module is symmetrical arranged.
In a kind of embodiment, support 21 is provided with fixed pulley 24, and rope bypasses fixed pulley 24.
In a kind of embodiment, back-supported module 23 is in vest shape.
In a kind of embodiment, in addition to body chassis 30, body chassis 30 are Omni-mobile chassis.
In a kind of embodiment, body chassis 30 includes metal base plate 31 and four Mecanum wheels 32,
Four Mecanum wheels 32 are operated alone by four motors 33 respectively.
By taking the connection of leg support module 12 and thigh support module 13 as an example, the two is connected by joint 100, driving dress
Put 102 to be fixed by screws in motor fixing seat 111 with decelerator 109, belt wheel 110-1 connected on the output shaft of decelerator 109,
Belt wheel 110-1 forms belt transmission system by belt 110-2 and belt wheel 110-3；During work, leg support module 12 and thigh branch
Hold mode block 13 links together with the shank of wearer with thigh respectively, and leg support module 12 follows with thigh support module 13
Wearer's lower extremity movement.
When wearer motion is to a certain position, it is necessary to when keeping a certain posture, control system control drive device 102 is just
Turn, drive device 102 drives belt transmission system to rotate forward, and belt wheel 110-3 drives screw mandrel 108 to rotate forward, and screw mandrel 108 is faced by a pair
The angular contact ball bearing that face is arranged in wedge-shaped frame bearing hole relatively rotates with wedge-shaped frame；The axis of guide 112 leans on guide shaft support 113
It is fixed on above slide rail 114, the axis of guide 112 limits wedge-shaped frame and can only axially translated without rotating；Because nut 115 is logical
Cross screw to be fixed on slide rail 114, when screw mandrel 108 rotates, nut 115 hardly moves up and down with slide rail 114, screw mandrel 108
Wedge-shaped frame is driven to move downward；The wedge-shaped medial surface of frame two and two wedge B107 contact of incline plane, wedge-shaped frame move downward same
When extruding both sides wedge B107 moved into slide rail 114；Wedge B107 is connected by connecting pin with connecting rod 116, wedge
B107 can relatively rotate with connecting rod 116 around connecting pin；The other end of connecting rod 116 is connected to thigh support by steady pin 117
In module 13, connecting rod 116 can rotate around steady pin 117；Brake block 104 is by being bolted on connecting rod 116；When the wedge of both sides
When shape block B107 moves into slide rail, two connecting rods 116 are driven to drive two-system around two steady pins, 117 inside side rotation, two connecting rods 106
Motion block 104 compresses brake disc 101, makes the no longer pivoting of brake disc 101, realizes braking；First gear 103 is fixed by screw
Engaged in brake disc 101 and with second gear 105；After braking, first gear 103 can not rotate with second gear 105；The
Two gears 105 are connected to by flat key on the output shaft of planetary gear train 118, and the shell of planetary gear train 118 is fixed on shank branch by screw
On hold mode block 12；After braking, planetary gear train 118 is no longer able to turn, therefore, leg support module 12 and thigh support module 113
It can not relatively rotate again.After braking, drive device 102 powers off, and self-locking is realized in whole joint by the self-locking property of feed screw nut pair.
When wearer needs to move or changes posture, control system control drive device 102 inverts, drive device 102
Wedge-shaped frame is driven to move upwards by feed screw nut pair, wedge B107 drivening rods 116 are opened laterally with brake block 104,
Brake disc 101 is no longer squeezed effect, and into free state, now drive device 102 stops operating, first gear 103 and second
Gear 105 can rotate around its respective axle, and whole joint can follow wearer's lower extremity movement.
The side of brake disc 101 is provided with dovetail groove, and the medial surface of brake block 104 is trapezoidal bulge-structure, brake disc 101 and system
Frictional force when motion block 104 contacts with each other by trapezium structure realizes braking.
Second gear 105 is 1 with the gearratio of first gear 103:2, the speed increasing ratio of planetary gear train 118 is 1:4, whole joint increases
Speed is than being 1:8.
Support 21 is fixed on body chassis 30 by fixed seat 24.Support 21 is built by aluminium alloy extrusions, support
21 tops are provided with six fixed pulleys 24, and fixed pulley 24 is by being bolted on section bar.Back-supported module 23 leans on four ropes
On the stent 21, wherein two ropes are connected on the shoulder belt of back-supported module 23, two ropes are connected in addition for 25 suspentions
The waist of back-supported module 23；Rope 25 is connected to rope draw off gear 22 by fixed pulley 24.During work, wearer puts on
Back-supported module 23, when wearer needs to move or changes posture, rope draw off gear 22 is in running status, with wearing
The motion change of person constantly changes the length of rope 25, to adapt to the posture of wearer；When wearer needs to keep a certain fixation
During posture, rope draw off gear 22 is in locking state, and the not change length again of rope 25, the posture of back-supported module 23 is no longer
Change, the suspension force of the top body suspension gear 20 of wearer keep anchor and reduce the physical efficiency expenditure of itself.
Omni-mobile chassis maximum translational speed 1.2m/s.User need to only input simple instruction can and realize omnidirectional
The motion of mobile chassis in any direction.
Described above is only the preferred embodiment of the present invention, is not intended to limit the invention, it is noted that for this skill
For the those of ordinary skill in art field, without departing from the technical principles of the invention, can also make it is some improvement and
Modification, these improvement and modification also should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of doctor's posture towards operation application keeps force aid system, it is characterised in that including：
- lower limb supporting mechanism, it includes the sole supporting module, leg support module, thigh support set gradually from bottom to top
Module and lumbar support module, two neighbouring supporting modules are rotatably connected, and one of which is provided with rotatable with respect to its
Brake disc, drive device of its relative fixation, relatively described brake disc fix first gear, act in the drive device
Lower braking or the brake block for discharging the brake disc, the second gear of another one provided with its relative fixation, described first, two gears
Intermeshing, the gear shaft of one of which and the rotation axis of its corresponding two neighbouring supporting module are coaxially disposed；
- upper body suspension gear, it includes support, and the support is provided with the rope draw off gear of its relative fixation and hung on described
Back-supported module on the rope of rope draw off gear.
2. doctor's posture according to claim 1 towards operation application keeps force aid system, it is characterised in that the drive
Vertically drive connection has wedge A, the wedge A drive connection has wedge B in the horizontal direction dynamic device, described
Brake block is located at the side of the brake disc, and one end of the brake block is rotatably connected in its corresponding supporting module, separately
One end is fixedly connected on the wedge B.
3. doctor's posture according to claim 2 towards operation application keeps force aid system, it is characterised in that the drive
Dynamic device includes motor, and its clutch end connects a screw mandrel, and the wedge A rotations shifting is connected on the screw mandrel.
4. doctor's posture according to claim 3 towards operation application keeps force aid system, it is characterised in that the electricity
The output end of machine is connected with decelerator, and the power intake of the clutch end of the decelerator and the screw mandrel passes through V belt translation
Component is connected.
5. doctor's posture according to claim 2 towards operation application keeps force aid system, it is characterised in that along described
The horizontal radial of brake disc is symmetrical arranged the two wedge A and is symmetrical arranged the two wedge B, the two wedge A phases
A wedge-shaped frame, wedge-shaped frame described in the drive device drive connection, the two wedge A difference drive connections two are formed to fixed
The wedge B.
6. doctor's posture according to claim 1 towards operation application keeps force aid system, it is characterised in that the waist
Portion's supporting module is arranged to one of arc tabular, the sole supporting module, leg support module and thigh support module
Two horizontal radials along the arc tabular module for being disposed as flat two and each tabular module are symmetrically set
Put.
7. doctor's posture according to claim 1 towards operation application keeps force aid system, it is characterised in that the branch
Erection has fixed pulley, and the rope bypasses the fixed pulley.
8. doctor's posture according to claim 1 towards operation application keeps force aid system, it is characterised in that the back of the body
Portion's supporting module is in vest shape.
9. doctor's posture according to claim 1 towards operation application keeps force aid system, it is characterised in that also includes
Body chassis, the body chassis are Omni-mobile chassis.
10. doctor's posture according to claim 9 towards operation application keeps force aid system, it is characterised in that described
Body chassis includes metal base plate and four Mecanum wheels, and four Mecanum wheels are individually driven by four motors respectively
It is dynamic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710733020.3A CN107351067B (en) | 2017-08-24 | 2017-08-24 | Doctor posture keeping power assisting system for operation application |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710733020.3A CN107351067B (en) | 2017-08-24 | 2017-08-24 | Doctor posture keeping power assisting system for operation application |
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| CN107351067A true CN107351067A (en) | 2017-11-17 |
| CN107351067B CN107351067B (en) | 2023-12-26 |
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|---|---|---|---|
| CN201710733020.3A Active CN107351067B (en) | 2017-08-24 | 2017-08-24 | Doctor posture keeping power assisting system for operation application |
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Cited By (1)
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| CN112428251A (en) * | 2019-08-26 | 2021-03-02 | 国立大学法人山梨大学 | Power assist device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107351067B (en) | 2023-12-26 |
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