CN108381528A - Energy storage type ectoskeleton and robot - Google Patents
Energy storage type ectoskeleton and robot Download PDFInfo
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- CN108381528A CN108381528A CN201810493094.9A CN201810493094A CN108381528A CN 108381528 A CN108381528 A CN 108381528A CN 201810493094 A CN201810493094 A CN 201810493094A CN 108381528 A CN108381528 A CN 108381528A
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- elastic energy
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- 238000004146 energy storage Methods 0.000 title claims abstract description 113
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 42
- 238000003825 pressing Methods 0.000 claims description 17
- 230000033001 locomotion Effects 0.000 description 15
- 238000010586 diagram Methods 0.000 description 6
- 230000005484 gravity Effects 0.000 description 6
- 210000000689 upper leg Anatomy 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 210000001699 lower leg Anatomy 0.000 description 4
- 238000003860 storage Methods 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 238000000354 decomposition reaction Methods 0.000 description 3
- 210000000629 knee joint Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000036316 preload Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 208000008037 Arthrogryposis Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000005381 potential energy Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000004816 latex Substances 0.000 description 1
- 229920000126 latex Polymers 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 239000002699 waste material Substances 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention discloses a kind of energy storage type ectoskeleton and robot, wherein energy storage type ectoskeleton, including bionic joint component, including the first joint being oppositely arranged and second joint, the first joint are rotatablely connected with the adjoining one end of second joint；Energy storage component, including cam and elastic energy storage part；Cam is set to one of the first joint and second joint, and at the rotation connection of the first joint and second joint；Elastic energy storage part one end is set to the first joint, and it is set around the outer rim of cam along its length, the other end is set to second joint, when the first joint is relatively rotated with second joint, elastic energy storage part follows the rotation adjustment length of cam, to store energy or release energy.Technical solution of the present invention is intended to use convenient for human body.
Description
Technical field
The present invention relates to ectoskeleton and robotic technology field, more particularly to a kind of energy storage type ectoskeleton and robot.
Background technology
Existing ectoskeleton is generally using the mechanism form equipped with power source, and power source needs to combine control system ability
Play the role of auxiliary to human body, once power source or control system go wrong, needs human body that ectoskeleton gravity is overcome to do
Work(becomes the burden of human body instead.And existing ectoskeleton can not well adapt to the characteristics of motion of human body, on the one hand
Preferable booster action can not be played to human body, on the other hand also result in the waste of the energy.
Invention content
The main object of the present invention is to provide a kind of energy storage type ectoskeleton, it is intended to be used convenient for human body.
To achieve the above object, a kind of energy storage type ectoskeleton proposed by the present invention, including
Bionic joint component, including the first joint being oppositely arranged and second joint, the first joint are adjacent with second joint
Close one end rotation connection；
Energy storage component, including cam and elastic energy storage part；
Cam is set to one of the first joint and second joint, and set on the rotation connection in the first joint and second joint
Place；
Elastic energy storage part one end is set to the first joint, and is set around the outer rim of cam along its length, and the other end is set to
Second joint, when the first joint is relatively rotated with second joint, elastic energy storage part follows the rotation adjustment length of cam, with storage
Energy releases energy.
Optionally, at least two sections of curvature is different in the contour curve of cam.
Optionally, at least four sections of curvature is different in the contour curve of cam.
Optionally, it is 180 ° for original state with the angle between the first joint and second joint, defines the first joint phase
Rotational angle to second joint is α, and the length varying value of elastic energy storage part is Δ d；
When α is 0 ° to 30 °, π/180 ° Δ d=0.17 α；
When α is 30 ° to 65 °, π/180 ° Δ d=0.57 α -6.43；
When α is 65 ° to 95 °, Δ d=25sin3 (α -65 °)+25；
When α is 90 ° to 120 °, Δ d=50.
Optionally, elastic energy storage part includes transmission rope and the elastic energy storage structure that is connect with transmission rope at least one end, elasticity
Energy storing structure is set to the first joint and/or second joint, and transmission rope is set around the outer rim of cam.
Optionally, one end of transmission rope connects elastic energy storage structure, and the other end connects pre-pressing structure, and elastic energy storage structure is set
In one of the first joint and second joint, pre-pressing structure is located therein another.
Optionally, elastic energy storage structure includes being set to the energy-stored spring of one of the first joint or second joint, energy storage
Spring one end is connect with the first joint or second joint, one end connection of the other end and transmission rope；
Pre-pressing structure is set to the first joint or second joint is wherein another, and the other end of pre-pressing structure and transmission rope connects
It connects, and transmission rope can be driven to be moved with respect to the first joint or second joint.
Optionally, cam is set to second joint, and cam and/or second joint are equipped with limited post, and the first joint is equipped with limit
Slot, limited post stretch into limiting slot, rotation of the limit second joint relative to the first joint.
Optionally, the first joint and second joint are equipped with guidance set, and transmission rope is set around cam across guidance set
Outer rim；
And/or first joint and second joint be equipped with bundled piece.
The present invention also proposes a kind of robot, including energy storage type ectoskeleton.Wherein, energy storage type ectoskeleton, including
Bionic joint component, including the first joint being oppositely arranged and second joint, the first joint are adjacent with second joint
Close one end rotation connection；
Energy storage component, including cam and elastic energy storage part；
Cam is set to one of the first joint and second joint, and set on the rotation connection in the first joint and second joint
Place；
Elastic energy storage part one end is set to the first joint, and is set around the outer rim of cam along its length, and the other end is set to
Second joint, when the first joint is relatively rotated with second joint, elastic energy storage part follows the rotation adjustment length of cam, with storage
Energy releases energy.
Technical solution of the present invention is by using energy storage type ectoskeleton, in order to which human body uses.The energy storage type ectoskeleton includes
Bionic joint component, energy storage component two parts, human body is in use, the first joint of bionic joint component and second joint are bundled in
Relatively turnable two parts of human body, for example, thigh and shank, thigh and shank drive the first joint and opposite turn of second joint
When dynamic, the cam of energy storage component follows the first joint or second joint to rotate, since the elastic energy storage part of energy storage component is set around
The outside of cam, and the both ends of elastic energy storage part are respectively arranged on the first joint and second joint, so cam is in rotation, it can band
Dynamic elasticity energy storing members follow tensile elongation or elasticity to shorten, and to store energy or release energy, the energy using human body itself is auxiliary
Help human motion.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the structural schematic diagram of one embodiment of energy storage type ectoskeleton of the present invention；
Fig. 2 is the dimensional structure diagram of one embodiment of energy storage type ectoskeleton of the present invention；
Fig. 3 is the structural schematic diagram of another embodiment of energy storage type ectoskeleton of the present invention；
Fig. 4 is the decomposition diagram of energy storage type ectoskeleton one of the present invention；
Fig. 5 is the decomposition diagram in the first joint of energy storage type ectoskeleton of the present invention；
Fig. 6 is the decomposition diagram of energy storage type ectoskeleton second joint of the present invention.
Drawing reference numeral explanation：
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained without creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining relative position relation, motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In the present invention unless specifically defined or limited otherwise, term " connection ", " fixation " etc. shall be understood in a broad sense,
For example, " fixation " may be a fixed connection, it may be a detachable connection, or integral；It can be mechanical connection, can also be
Electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary the connection inside two elements or two
The interaction relationship of a element, unless otherwise restricted clearly.It for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, and should not be understood as
It indicates or implies its relative importance or implicitly indicate the quantity of indicated technical characteristic.Define as a result, " first ",
The feature of " second " can explicitly or implicitly include at least one of the features.In addition, the technical side between each embodiment
Case can be combined with each other, but must can be implemented as basis with those of ordinary skill in the art, when the combination of technical solution
Conflicting or cannot achieve when occur will be understood that the combination of this technical solution is not present, also not the present invention claims guarantor
Within the scope of shield.
The present invention proposes a kind of energy storage type ectoskeleton 100, as shown in Figures 1 to 6 comprising bionic joint component 10, packet
The first joint 11 being oppositely arranged and second joint 12 are included, one end rotation adjoining with second joint 12 of the first joint 11 connects
It connects；Energy storage component 20, including cam 21 and elastic energy storage part 22；Cam 21 be set to the first joint 11 and second joint 12 wherein it
One, and at the rotation connection set on the first joint 11 with second joint 12；22 one end of elastic energy storage part is set to the first joint 11, and
It is set around the outer rim of cam 21 along its length, the other end is set to second joint 12, the first joint 11 and 12 phase of second joint
When to rotation, elastic energy storage part 22 follows the rotation adjustment length of cam 21, to store energy or release energy.
Technical solution of the present invention is by using energy storage type ectoskeleton 100, in order to which human body uses.The energy storage type ectoskeleton
100 include bionic joint component 10,20 two parts of energy storage component, human body in use, bionic joint component 10 the first joint 11
The relatively turnable two parts of human body are bundled in second joint 12, for example, thigh and shank, thigh and shank drive first to close
When section 11 and second joint 12 relatively rotate, the cam 21 of energy storage component 20 follows the first joint 11 or second joint 12 to rotate,
Since the elastic energy storage part 22 of energy storage component 20 is set around the outside of cam 21, and the both ends of elastic energy storage part 22 are respectively arranged on
One joint 11 and second joint 12, so cam 21 can drive elastic energy storage part 22 to follow tensile elongation or elasticity in rotation
Shorten, to store energy or release energy, human motion is assisted using the energy of human body itself.
In the present embodiment, as shown in figure 4, the first joint 11 is connect with second joint 12 by shaft 14, in the first joint
11 and second joint 12 on be equipped with 14 hole of shaft, bearing 13 is equipped in 14 hole of shaft, shaft 14 is set to the inner ring of bearing 13, makes
It is lighter relative to the rotation of second joint 12 to obtain the first joint 11.Cam 21 is set to second joint 12, cam 21 and second joint 12
Be structure as a whole or be dismountable fixed connection structure, when second joint 12 rotates, cam 21 follows second joint 12
Rotation.When the included angle difference between the first joint 11 and second joint 12, elastic energy storage part 22 is set around outside cam 21
The length of edge is also different, and elastic energy storage part 22 can select steel wire rope, and at least one end of steel wire rope be equipped with spring 2221 or
The elastic components such as person's elastic webbing.In other embodiments, cam 21 can be set to the first joint 11, elastic energy storage part 22 can select
With elastic components such as elastic webbings.
Further, at least two sections of curvature is different in the contour curve of cam 21.Due to being worn on walking or movement
When, it is also inconsistent to the power-assisted demand of ectoskeleton when human body is in different states, therefore will be set in the contour curve of cam 21
It is different to be set at least two sections of curvature, preferably to assist human motion.
Further, at least four sections of curvature is different in the contour curve of cam 21.Finer division cam 21
Contour curve, preferably to assist human motion.
Specifically, it is 180 ° for original state with the angle between the first joint 11 and second joint 12, defines first and close
The rotational angle of the second joint 12 relatively of section 11 is α, and the length varying value of elastic energy storage part 22 is Δ d；When α is 0 ° to 30 °, Δ
π/180 ° d=0.17 α；When α is 30 ° to 65 °, π/180 ° Δ d=0.57 α -6.43；When α is 65 ° to 95 °, Δ d=25sin3
(α -65 °)+25；When α is 0 ° to 30 °, Δ d=50.
The state stood using human body is original state, and when α is 0 ° to 30 °, human body needs quickly to get rid of in normal walking
Leg, and joint output very little.So coiling length of the elastic energy storage part 22 on cam 21 in this rotational angle range is set
It is set to and varies less, is i.e. 22 amount of tension of elastic energy storage part is smaller, will not be acted to the lift leg of this motion range and generate constraint, at this time
Relationship between the elongation and rotational angle α of elastic energy storage part 22 is approximately：π/180 ° Δ d=0.17 α.
α be 30 ° to 65 ° when, human body be substantially at seat station, squat up during, joint exports larger torque.So
Coiling length of the elastic energy storage part 22 of this range on cam 21 is set as changing greatly, is linearly increased in equal proportion substantially
Length, i.e. the elongation linear increase of elastic energy storage part 22, in the torque that joint generates also linear increase, to adapt to knee joint herein
The larger torque of range exports.22 length variable quantity of elastic energy storage part is approximately with joint rotation angle relationship at this time：Δ d=0.57 α
π/180 ° -6.43.
When α is 65 ° to 95 °, during human body is also at seat station and squats up, due to 90 degree of process thigh and calf, this
The knee joint output of range basically reaches maximum.So the coiling length by the elastic energy storage part 22 of this range on cam 21,
And the elastic force (joint output torque) of elastic energy storage part 22 is set as, compared with 30-65 degree variation biggers, substantially increasing in sine curve
It is long, and nearby start steadily to reach sinusoidal peak value at 90 degree, it is needed with adapting to big peak value output torque of the human body near 90 degree
It asks.22 length variable quantity of elastic energy storage part is approximately with joint rotation angle relationship at this time：Δ d=25sin3 (α -65 °)+25.
When α is 90 ° to 120 °, the output of human body knee joint torque start to be gradually reduced, while considering structure design etc. because
Element.So coiling length of the elastic energy storage part 22 on cam 21 is basically unchanged, it is defeated to meet the basic torque for squatting up and sitting and stand
Go out requirement.22 length variable quantity of elastic energy storage part is approximately with joint rotation angle relationship at this time：Δ d=50.
The division of above-mentioned 4 angles makes the output of the torque of the first joint 11 or second joint 12 substantially conform to the fortune of human body
Kinetic curve reaches the basic matching of 21 rotational angle of cam and human body figure, reaches that human body is more laborsaving and comfortable effect
Fruit.This orthosis articulation is dressed for lower limb patient simultaneously, can correct and mend according to the biomethanics curve of normal human
It repays.The first joint 11 and second joint 12 can be also bundled respectively to thigh and hip joint in other embodiments.
Further, elastic energy storage part 22 includes transmission rope 221 and the elastic energy storage being connect at least one end of transmission rope 221
Structure 222, elastic energy storage structure 222 are set to the first joint 11 and/or second joint 12, and transmission rope 221 is set around cam 21
Outer rim.For cam 21 when driving transmission rope 221 to move, transmission rope 221 drives the elastic energy storage structure 222 of end to move, with storage
It deposits energy or releases energy.Elastic energy storage structure 222 can be set to one end of transmission rope 221, and the other end of transmission rope 221 is set to
Joint far from elastic energy storage structure 222.Elastic energy storage structure 222 can also be set to the both ends of transmission rope 221, transmission rope
221 during exercise, while driving the movement of two elastic energy storage structures 222.
Specifically, one end connection elastic energy storage structure 222 of transmission rope 221, the other end connects pre-pressing structure 223, elasticity
Energy storing structure 222 is set to one of the first joint 11 and second joint 12, and pre-pressing structure 223 is located therein another.Elasticity
For energy storing structure 222 for storing energy or releasing energy, pre-pressing structure 223 is used to adjust the preload degree of transmission rope 221.
Further, elastic energy storage structure 222 includes being set to the energy storage bullet of one of the first joint 11 or second joint 12
Spring 2221,2221 one end of energy-stored spring are connect with the first joint 11 or second joint 12, and one end of the other end and transmission rope 221 connects
It connects；Pre-pressing structure 223 is set to the first joint 11 or second joint 12 is wherein another, and pre-pressing structure 223 is another with transmission rope 221
One end connects, and transmission rope 221 can be driven to be moved with respect to the first joint 11 or second joint 12.It is set with elastic energy storage structure 222
In the first joint 11, it is embodiment that pre-pressing structure 223, which is set to second joint 12, and pre-pressing structure 223 includes being set to second joint 12
Fixed frame 2231, regulating tank 2231a is equipped in the fixed frame 2231, adjusting block 2232, transmission are equipped in regulating tank 2231a
One end of rope 221 is connect with adjusting block 2232, and adjusting block 2232 adjusts the position in regulating tank 2231a, to adjust transmission rope
221 preload is equipped with screw 2233, screw for the ease of the adjusting and positioning of adjusting block 2232 on fixed frame 2231
2233 are set to the one end of adjusting block 2232 far from transmission rope 221, and be threadedly coupled with fixed frame 2231 and with 2232 turns of adjusting block
Dynamic connection, screw 2233 are relatively fixed the rotation of frame 2231, to drive adjusting block 2232 to move, are tensioned transmission rope 221.In other realities
It applies in example, elastic energy storage structure 222 can be also set to second joint 12, pre-pressing structure 223 is set to the first joint 11.For the ease of
Two connectors 2222 are respectively set at the both ends of energy-stored spring 2221 in the connection and fixation of energy-stored spring 2221, wherein a connection
Part 2222 is fixedly connected with the first joint 11 or second joint 12, and another connector 2222 is connect with the end of transmission rope 221.This
In embodiment, selection steel wire rope is transmission rope 221, can also select elastic webbing in other embodiments, the material of elastic webbing can
Think rubber or latex.
Further, as shown in Figures 2 to 4, cam 21 is set to second joint 12, and cam 21 and/or second joint 12 are set
There are limited post 121, the first joint 11 to be equipped with limiting slot 111, limited post 121 stretches into limiting slot 111, and limit second joint 12 is opposite
The rotation in the first joint 11.During exercise due to human body, joint correspondingly rotates range, and limit is arranged in the present invention program
Column 121 and limiting slot 111 are limited the rotational angle of human synovial with auxiliary, avoid injury of human.When second joint 12 is set on convex
Wheel 21 deviates from the side in the first joint 11, and limited post 121 is set to cam 21；When second joint 12 deviates from set on the first joint 11
When the side of cam 21, limited post 121 is set to the first joint 11；It can also be rotatablely connected with second joint 12 in the first joint 11
One end add a connection assist 122, connection assist 122 stretches out from a surface in the first joint 11 and to second joint 12
End bending is connect with the first joint 11, when second joint 12 and the first joint 11 are rotatablely connected, the first joint 11 and cam 21
It is set between second joint 12 and connection assist 122, cam 21 and second joint 12 are equipped with limited post 121, and second closes
Section 12 is equipped with limiting slot 111 with connection assist 122, enhances the limited support intensity of second joint 12 and the first joint 11,
Prolong the service life.
Further, as shown in Figures 4 to 6, the first joint 11 and second joint 12 are equipped with guidance set 16, transmission rope
221 are set around the outer rim of cam 21 across guidance set 16；And/or first joint 11 and second joint 12 be equipped with bundled piece
15.Since transmission rope 221 can be driven to move when cam 21 rotates, and spring 2221 only has one end to fix, therefore, transmission rope 221
It drives the draw direction of spring 2221 to be simultaneously not fixed, the performance of spring 2221 can be caused to decline, therefore in the first joint 11 and the
Two joints 12 are respectively provided with guidance set 16, to limit draw direction and pre-pressing structure 223 of the transmission rope 221 to spring 2221
Preload adjust direction.Guidance set 16 includes at least two pulleys 161, between transmission rope 221 is across adjacent pulleys 161
Gap.When the present embodiment makes the included angle between the first joint 11 and second joint 12 change, spring 2221 is only in straight line side
Variation is deformed upon upwards, meets the requirement and occasion of spring 2221, improves the service life of energy-stored spring 2221.It will not
Because the case where improper uses such as the bending of spring 2221, energy-storage travelling wave tube is caused to fail.
Energy storage type ectoskeleton 100 is fixed for the ease of human body, as shown in Figure 5 and Figure 6, in the first joint 11 and second joint
12 are equipped with bundled piece 15.Bundled piece 15 and the first joint 11 or second joint 12 is structure as a whole or separate structure, binding
When part 15 and the first joint 11 or second joint 12 are separate structure, bundled piece 15 and the first joint 11 or second joint 12 use
Clamping connecting structure.Connecting hole 151 is equipped on bundled piece 15 simultaneously, in order to pass through bandage and fixation.
The present invention is joined the deformation quantity of joint rotation angle and energy-stored spring 2221 in specific rule by the effect of cam 21
It is to together so that when joint motions, this can be provided the power-assisted of certain relationship by dynamic auxiliary joint, to help wearer to complete
The action of joint extension.In medical rehabilitation field, when human body dresses this orthosis articulation, it will alleviate due to human body its own gravity
Joint is ailing in the presence of caused by, and can mitigate people's output, further increases the effect for the treatment of and rehabilitation.And skill of the present invention
Art scheme is only with 21 structure of energy-stored spring 2221, transmission rope 221 and cam, and there is no complicated power sources, transmission mechanism, hard
Part control system, to which the problem of can not work normally due to wherein a certain link breaks down just be not present.
Energy-stored spring 2221 in the present invention can follow the variation of the rotational angle of the first joint 11 and second joint 12 and
It deforms upon, the needs of spring 2221 carry out energy storage in arthrogryposis, and the release of energy is carried out in joint extension.This energy
Amount deposit and the process of release meet just with human motion form.When arthrogryposis, due to the presence of its own gravity, Ke Yitong
Gravity is crossed to make spring 2221 deform, converts gravitional force to the elastic potential energy of spring 2221；Simultaneously as spring 2221 stores up
Can process presence, wearer will not be made because bend and stretch joint is too fast, lead to problems such as to fall down, joint Fast Wearing.It is stretched in joint
Zhan Shi, human body need that its own gravity is overcome to do work, and spring 2221 needs to restore original form at this time, and then discharges elastic potential energy,
Human body is assisted to overcome gravity acting, to achieving the purpose that power-assisted.Make whole capability utilization rate higher, power-assisted effect bright
It is aobvious.
The present invention uses the passive assistant orthopedic joint of adaptive ectoskeleton based on 2221 energy storage type of spring.Pass through in system
The different design feature of radius in different corners of cam 21 makes spring 2221 that the variation of 21 profile of cam be followed to occur corresponding
Deformation.By the optimization design of 21 profile of cam, it is in one to reach 2221 deflection of spring to need the size of power-assisted with joint motions
The variation of cause property, i.e., adapt orthosis articulation to the motion change of human body by the design of 21 profile of cam.To improve energy
Utilization rate, while obstruction will not be generated to human motion because of the presence of spring 2221.Therefore, the present invention is not only applicable to rehabilitation and controls
Treatment field can also be applied to the field of the weight-bearing joints such as sportsman, worker, soldier movement.
The present invention also proposes a kind of robot, which includes energy storage type ectoskeleton 100, the energy storage type ectoskeleton 100
Concrete structure with reference to above-described embodiment, since robot uses whole technical solutions of above-mentioned all embodiments,
At least all advantageous effects caused by the technical solution with above-described embodiment, this is no longer going to repeat them.Wherein, a kind of storage
Energy formula ectoskeleton 100, including bionic joint component 10, including the first joint 11 being oppositely arranged and second joint 12, first closes
Section 11 is rotatablely connected with the adjoining one end of second joint 12；Energy storage component 20, including cam 21 and elastic energy storage part 22；Cam
21 are set to one of the first joint 11 and second joint 12, and set on the rotation connection in the first joint 11 and second joint 12
Place；22 one end of elastic energy storage part is set to the first joint 11, and is set around the outer rim of cam 21 along its length, and the other end is set to
Second joint 12, when the first joint 11 is relatively rotated with second joint 12, elastic energy storage part 22 follows the rotation of cam 21 to adjust
Length, to store energy or release energy.
The foregoing is merely the preferred embodiment of the present invention, are not intended to limit the scope of the invention, every at this
Under the inventive concept of invention, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/use indirectly
In the scope of patent protection that other related technical areas are included in the present invention.
Claims (10)
1. a kind of energy storage type ectoskeleton, which is characterized in that including
Bionic joint component, including the first joint being oppositely arranged and second joint, first joint and the second joint
Adjoining one end rotation connection；
Energy storage component, including cam and elastic energy storage part；
The cam is set to one of first joint and the second joint, and is closed set on first joint and second
At the rotation connection of section；
Elastic energy storage part one end is set to the first joint, and is set around the outer rim of cam along its length, and the other end is set to
Second joint, when first joint is relatively rotated with second joint, the elastic energy storage part follows the rotation of cam to adjust length
Degree, to store energy or release energy.
2. energy storage type ectoskeleton as described in claim 1, which is characterized in that at least two sections in the contour curve of the cam
Curvature is different.
3. energy storage type ectoskeleton as claimed in claim 2, which is characterized in that at least four sections in the contour curve of the cam
Curvature is different.
4. energy storage type ectoskeleton as claimed in claim 3, which is characterized in that between first joint and second joint
It is original state that angle, which is 180 °, and it is α, the length of elastic energy storage part to define first joint with respect to the rotational angle of second joint
Degree changing value is Δ d；
When α is 0 ° to 30 °, π/180 ° Δ d=0.17 α；
When α is 30 ° to 65 °, π/180 ° Δ d=0.57 α -6.43；
When α is 65 ° to 95 °, Δ d=25sin3 (α -65 °)+25；
When α is 90 ° to 120 °, Δ d=50.
5. the energy storage type ectoskeleton as described in any in Claims 1-4, which is characterized in that the elastic energy storage part includes passing
Running rope and the elastic energy storage structure being connect with transmission rope at least one end, the elastic energy storage structure be set to first joint and/
Or the second joint, the transmission rope are set around the outer rim of the cam.
6. energy storage type ectoskeleton as claimed in claim 5, which is characterized in that one end of the transmission rope connects elastic energy storage knot
Structure, the other end connect pre-pressing structure, and the elastic energy storage structure is set to one of first joint and the second joint,
The pre-pressing structure is located therein another.
7. energy storage type ectoskeleton as claimed in claim 6, which is characterized in that the elastic energy storage structure includes being set to described the
The energy-stored spring of one of one joint or second joint, described energy-stored spring one end connect with first joint or second joint
It connects, the other end is connect with one end of the transmission rope；
The pre-pressing structure is set to first joint or second joint is wherein another, the pre-pressing structure and transmission rope it is another
One end connects, and relatively described first joint of the transmission rope or second joint can be driven to move.
8. the energy storage type ectoskeleton as described in any in Claims 1-4, which is characterized in that the cam is set to described second
Joint, the cam and/or the second joint are equipped with limited post, and first joint is equipped with limiting slot, and the limited post is stretched
Enter the limiting slot, limits rotation of the second joint relative to first joint.
9. the energy storage type ectoskeleton as described in any in Claims 1-4, which is characterized in that close in first joint and second
Section is equipped with guidance set, and the transmission rope is set around the outer rim of the cam across the guidance set；
And/or first joint and second joint are equipped with bundled piece.
10. a kind of robot, which is characterized in that including any energy storage type ectoskeleton in claim 1 to 9.
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| CN201810493094.9A CN108381528B (en) | 2018-05-21 | 2018-05-21 | Energy-storage exoskeleton and robot |
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| CN110639177A (en) * | 2019-09-25 | 2020-01-03 | 深圳市丞辉威世智能科技有限公司 | Rehabilitation training method, device, equipment and medium |
| CN112025762A (en) * | 2020-09-10 | 2020-12-04 | 三一建筑机器人(西安)研究院有限公司 | Energy storage joint structure and exoskeleton device |
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