CN109318215B - Waist exoskeleton robot - Google Patents
Waist exoskeleton robot Download PDFInfo
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- CN109318215B CN109318215B CN201811484414.0A CN201811484414A CN109318215B CN 109318215 B CN109318215 B CN 109318215B CN 201811484414 A CN201811484414 A CN 201811484414A CN 109318215 B CN109318215 B CN 109318215B
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- 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 waist exoskeleton robot comprises a back supporting device, a hip connecting device, a leg energy storage device and a leg pushing device, wherein the back supporting device is fixedly connected with the middle part of the hip connecting device, two end parts of the hip connecting device are fixedly connected with the leg energy storage device, the leg energy storage device is fixedly connected with the leg pushing device, the back supporting device can be worn on the back of a human body in a fitting manner, the wearing comfort of the human body is greatly improved, the wearing steps are simple, the operation is simple and rapid, the leg energy storage device adopts a design mode of a crank slider mechanism and a spring, after energy storage when a user wears an exoskeleton to bend is completed, when the human body is converted from a bending state to a standing state, the energy stored by the spring can be reversely transmitted to the back supporting device through the crank slider mechanism, the structure is simple, the power assisting effect is good, and the leg pushing device can be well attached to thigh, guarantee the travelling comfort that the user dressed, have the characteristics that the structure is retrencied, the flexibility is high.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a waist exoskeleton robot.
Background
The exoskeleton robot is a mechanical device which simulates the physiological structure of a human body, is wearable and assists a wearer while coordinating with the movement of the wearer. With the development of science and technology, exoskeleton robots have wider application prospects in the fields of military, civil use and the like, and have become the key point of research in the robot field in all countries at present.
The existing waist exoskeleton robot adopts a chest supporting device mode, namely the supporting device is placed in front of the chest of a human body, and the chest of a user is subjected to larger extrusion force when the waist exoskeleton is worn by the user in a design mode, so that the wearing comfort is poor, and the movement flexibility is low.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide the waist exoskeleton robot which can improve the comfort of a human body after wearing an exoskeleton to a great extent and improve the flexibility of movement and has the characteristics of simple structure, high flexibility, comfort in wearing, simplicity and quickness.
In order to achieve the purpose, the invention adopts the technical scheme that:
the waist exoskeleton robot comprises a back supporting device, a hip connecting device, a leg energy storage device and a leg pushing device, wherein the back supporting device is fixedly connected with the middle part of the hip connecting device, two end parts of the hip connecting device are hinged with the leg energy storage device, and the leg energy storage device is fixedly connected with the leg pushing device;
the back support device comprises a back plate which accords with ergonomics, the end parts of two braces are respectively fixed on the inner side surface of the back plate, a waistband with a buckle is fixedly connected between the two braces, a back telescopic outer rod fixing block is fixed on the lower part of the outer side surface of the back plate, a back telescopic outer rod penetrates through the back telescopic outer rod fixing block to be fixed, one end of a telescopic back telescopic inner rod is inserted into the back telescopic outer rod, and the other end of the telescopic back telescopic inner rod is fixedly connected with an upper hip joint of the hip connecting device;
the hip connecting device comprises a hip upper joint which is fixedly connected with the hip telescopic inner rod, a hip telescopic outer rod is sleeved on the hip telescopic inner rod and is fixedly connected with one end of a hip lower joint, and the other end of the hip lower joint is hinged with a leg connecting rod of the leg energy storage device;
the leg energy storage device comprises a binding band, two ends of the binding band are fixed on an inner side plate to form a cylinder shape, the inner side plate, an outer side plate, a bottom plate, an outer shell and a lower shell are fixedly connected to form a box body, a leg connecting rod is fixedly connected with a crank positioned in the box body, the crank is hinged with a cylindrical pin and a connecting rod, two ends of the cylindrical pin are respectively connected with the outer side plate and the inner side plate, the connecting rod is hinged with a sliding block, a spring limiting block is fixedly connected below the sliding block, the sliding block and the spring limiting block are sleeved on a guide rod and are in sliding connection with the guide rod, the spring limiting block is fixedly connected with one end of a compression spring, the other end of the compression spring is fixed on the lower fixing block, the lower fixing block is fixedly connected with;
the leg pushing device comprises a vertical turning rod, one end of the vertical turning rod is fixedly connected with the long straight rod, the other end of the vertical turning rod is fixedly connected with the horizontal turning rod, the horizontal turning rod is fixedly connected with the horizontal straight rod, and the horizontal straight rod is fixed on a leg supporting block matched with a human thigh curved surface.
The back telescopic inner rod and the back telescopic outer rod are both provided with screw holes, and the consolidation positions of the back telescopic inner rod and the back telescopic outer rod are adjusted through bolts or buckles.
A back pad is fixed on the back plate.
The hip extension outer rod and the hip extension inner rod are both provided with screw holes, and the fixing position between the hip extension outer rod and the hip extension inner rod is adjusted through bolts or buckles.
And a top column used for enhancing the structural stability is fixedly connected between the outer side plate and the inner side plate.
And a supporting block used for enhancing the structural stability is fixedly connected between the outer side plate and the inner side plate.
The bottom plate is fixedly connected with an upper fixing block used for limiting the movement of the guide rod.
The long straight rod, the vertical turning rod, the horizontal turning rod and the horizontal straight rod are all provided with screw holes, and the fixing positions of the long straight rod and the vertical turning rod, the vertical turning rod and the horizontal turning rod are all adjusted through bolts.
The waist exoskeleton robot provided by the invention is a bionic structure of the waist exoskeleton robot designed based on the relationship between human hip bones and human hip joint movement mechanisms, and adopts a back supporting device, a hip connecting device, a leg energy storage device and a leg ejecting device which are sequentially connected, and all the devices cooperatively move; the back support device can be worn on the back of a human body in a fitting manner, on one hand, when a user wears the waist exoskeleton, the back support device can be like a schoolbag, the wearing time can be shortened, the wearing steps are simple, and the operation is simple and rapid, and on the other hand, compared with the existing chest support structure, the comfort of wearing the human body is greatly improved; the leg energy storage device adopts a design mode of combining a crank slider mechanism with a spring, after energy storage when a user wears the exoskeleton to bend is completed, when a human body is converted from a bending state to a standing state, the energy stored by the spring can be reversely transmitted to the back supporting device through the crank slider mechanism, so that the user is assisted in completing cargo transportation, and the waist of the human body is protected; the leg jacking device adopts a curved surface design which is matched with the thighs of a human body, and can be well attached to the thighs of the human body, so that the user can still have good comfort after wearing the waist exoskeleton. When a user wears the waist exoskeleton, the maximum forward bending angle can reach 90 degrees, so that the operation space of the user can not be affected after wearing the waist exoskeleton.
In addition, the sizes of the back supporting device and the hip connecting device can be adjusted, and the hip connecting device can be suitable for users with different body shapes to wear; the position of a leg jacking device can be adjusted by bolts to adapt to wearing by users with different thigh thicknesses, the consolidation positions are adjusted by the bolts between a long straight rod and a vertical turning rod, the exoskeleton can adapt to users with different thigh lengths, the consolidation positions are adjusted by the bolts between the vertical turning rod and a horizontal turning rod and between the horizontal turning rod and the horizontal straight rod, the exoskeleton can adapt to users with different thigh diameters, the purpose of adjusting the length is achieved, and the leg jacking device is suitable for wearing by users with different statures.
Drawings
Fig. 1 is a schematic structural diagram of a waist exoskeleton robot.
Fig. 2 is a structural schematic diagram of a back supporting device of the waist exoskeleton robot.
Fig. 3 is a partial structural schematic diagram of a back support device of the lumbar exoskeleton robot.
Figure 4 is a first schematic diagram of a hip connection device of the lumbar exoskeleton robot.
Figure 5 is a second schematic diagram of a hip connection device of the lumbar exoskeleton robot.
Fig. 6 is a schematic structural diagram of a leg energy storage device of the waist exoskeleton robot.
Fig. 7 is an exploded structural schematic diagram of a leg energy storage device of the waist exoskeleton robot.
Fig. 8 is a structural schematic diagram of a leg jacking device of the waist exoskeleton robot.
Fig. 9 is an exploded view of the leg-pushing device of the lumbar exoskeleton robot.
The reference numbers are as follows:
1. a back support device; 2. a hip attachment device; 3. a leg energy storage device; 4. a leg jacking device; 5. a harness; 6. a waistband; 7. a back pad; 8. a back telescopic inner rod; 9. a back telescopic outer rod; 10. the back telescopic outer rod fixing block; 11. a back plate; 12. a hip upper joint; 13. a hip telescopic inner rod; 14. a hip extension outer rod; 15. a hip lower joint; 16. an outer panel; 17. a long straight rod; 18. a shell is arranged below the shell; 19. binding bands; 20. on the outer shell; 21. a leg connecting rod; 22. a crank; 23. a base plate; a top post; 25. a cylindrical pin; 26. an upper fixed block; 27. a connecting rod; 28. a slider; 29. a spring stopper; 30. a guide bar; 31. a spring; 32. a support block; 33. a lower fixed block; 34. an inner side plate; 35, vertical crankpins; 36. a horizontal turning lever; 37. a horizontal straight rod; 38. a leg support block.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The waist exoskeleton robot is structurally shown in fig. 1 and comprises a back supporting device 1, a hip connecting device 2, a leg energy storage device 3 and a leg jacking device 4, wherein the back supporting device 1 is fixedly connected with the middle part of the hip connecting device 2, two end parts of the hip connecting device 2 are hinged with the leg energy storage device 3, and the leg energy storage device 3 is fixedly connected with the leg jacking device 4.
The structure of the back supporting device is shown in fig. 2, the back supporting device 1 comprises straps 5, a waistband 6, a back cushion 7, a back telescopic inner rod 8, a back telescopic outer rod 9, a back telescopic outer rod fixing block 10 and a back plate 11 conforming to ergonomics, wherein the ends of the two straps 5 are respectively fixed on the inner side surface of the back plate 11, the back cushion 7 is fixed on the back plate 11, the waistband 6 with a buckle is fixedly connected between the two straps 5, the back telescopic outer rod fixing block 10 is fixed on the lower portion of the outer side surface of the back plate 11, the back telescopic outer rod 9 penetrates through the back telescopic outer rod fixing block 10 to be internally fixed, one end of the telescopic back telescopic inner rod 8 is inserted into the back telescopic outer rod 9, and the other end is fixedly connected with the hip upper joint 12 of the hip connecting.
The local structure of the back supporting device of the waist exoskeleton robot is shown in figure 3, a row of threaded holes are formed in a back telescopic inner rod 8, a row of threaded holes corresponding to the back telescopic inner rod 8 are formed in a back telescopic outer rod 9, and threaded holes in different positions are inserted between the back telescopic inner rod 8 and the back telescopic outer rod 9 through bolts or buckles to change the consolidation positions, so that the overall length is adjusted, and users adapting to different waist widths use the waist exoskeleton robot.
A first schematic diagram of a hip connecting device of the waist exoskeleton robot is shown in fig. 4, and the hip connecting device 2 includes a hip upper joint 12, a hip telescopic inner rod 13, a hip telescopic outer rod 14 and a hip lower joint 15, wherein the hip upper joint 12 is fixedly connected with the hip telescopic inner rod 13, the hip telescopic outer rod 14 is sleeved on the hip telescopic inner rod 13, the hip telescopic outer rod 14 is fixedly connected with one end of the hip lower joint 15, and the other end of the hip lower joint 15 is hinged to a leg connecting rod 21 of the leg energy storage device 3.
The hip telescopic outer rod 14 is provided with a row of threaded holes for adjusting the length, the hip telescopic inner rod 13 is provided with a row of threaded holes corresponding to the hip telescopic outer rod 14, and the fixing position between the hip telescopic outer rod 14 and the hip telescopic inner rod 13 is adjusted through bolts or buckles, so that the length is adjusted to adapt to users with different thigh lengths to use waist exoskeleton robots.
A second schematic diagram of the hip connecting device of the waist exoskeleton robot is shown in fig. 5, wherein one end of the hip upper joint 12 is fixedly connected with the back telescopic inner rod 8 through a screw thread, and the other end of the hip upper joint 12 is fixedly connected with the hip telescopic inner rod 13 through a screw thread.
Fig. 6 shows a schematic structural diagram of a leg energy storage device of the waist exoskeleton robot, fig. 7 shows an exploded structural diagram of the leg energy storage device of the waist exoskeleton robot, please refer to fig. 6 and 7, and the leg energy storage device 3 includes an outer side plate 16, a long straight rod 17, a lower housing 18, a binding band 19, an upper housing 20, a leg connecting rod 21, a crank 22, a bottom plate 23, a top pillar 24, a cylindrical pin 25, an upper fixing block 26, a connecting rod 27, a slider 28, a spring stopper 29, a guide rod 30, a spring 31, a supporting block 32, a lower fixing block 33, and an inner side plate 34.
Wherein, the two ends of the binding band 19 are fixed on the inner side plate 34 through screw threads to form a cylinder shape, and the inner side plate 34, the outer side plate 16, the bottom plate 23, the upper shell 20 and the lower shell 18 are fixedly connected to form a box body. The leg connecting rod 21 is fixedly connected with a crank 22 in the box body through threads, the crank 22 is hinged with a cylindrical pin 25 and a connecting rod 27, two ends of the cylindrical pin 25 are respectively connected with an outer side plate 16 and an inner side plate 34, the connecting rod 27 is hinged with a sliding block 28, a spring limiting block 29 is fixedly connected below the sliding block 28, the sliding block 28 and the spring limiting block 29 are sleeved on the guide rod 30 and are in sliding connection with the guide rod 30, the spring limiting block 29 is fixedly connected with one end of a compression spring 31, the other end of the compression spring 31 is fixed on a lower fixing block 33, the lower fixing block 33 is fixedly connected with the bottom plate 23 through threads, the bottom plate 23 is fixedly connected with an upper fixing block 26 used for limiting the movement of the guide rod 30 and used for limiting the movement of the guide rod 30, and the sliding of the. The supporting blocks 32 used for enhancing the structural stability are fixedly connected between the outer side plate 16 and the inner side plate 34, and the supporting blocks 32 are used for connecting the outer side plate 16 and the inner side plate 34 to form a stable frame structure, so that the stability of the whole structure is enhanced. One end of the long straight rod 17 is fixedly connected with the supporting block 32 through threads, and the other end of the long straight rod 17 is connected with the leg jacking device 4.
The outer side plate 16 and the inner side plate 34 are fixedly connected with a top column 24 for enhancing structural stability, and the top column 24 is used for connecting the outer side plate 16 and the inner side plate 34 to form a stable frame structure so as to enhance the stability of the whole structure.
The long straight rod 17, the vertical turning rod 35, the horizontal turning rod 36 and the horizontal straight rod 37 are all provided with screw holes, the consolidation positions between the long straight rod 17 and the vertical turning rod 35 are adjusted through bolts, so that the exoskeleton can adapt to users with different thigh lengths, the consolidation positions between the vertical turning rod 35 and the horizontal turning rod 36 and between the horizontal turning rod 36 and the horizontal straight rod 37 are adjusted through bolts, the purpose of adjusting the length is achieved, and the exoskeleton can adapt to users with different thigh diameters.
The maximum angle that the user wears the waist exoskeleton and can bend forward can reach 90 degrees, when the user wears the waist exoskeleton robot and begins to bend down from a standing state, the hip lower joint 15 of the hip connecting device 2 drives the leg connecting rod 21 of the leg energy storage device 3, the leg connecting rod 21 drives the crank 22 to rotate around the cylindrical pin 25 to the front of the user, the crank 22 drives the connecting rod 27 to move when rotating, the connecting rod 27 drives the sliding block 28 to do linear motion along the guide rod 30 when moving, the sliding block 28 pushes the spring limiting block 29 to move along the guide rod 30, and the spring limiting block 29 compresses the spring 31 to finish energy storage. When the user wears the waist exoskeleton robot and starts to stand from a stooping state, the energy stored in the spring 31 is released to help the user to return to the standing state, and the assistance is completed.
The structure schematic diagram of the leg pushing device 4 of the waist exoskeleton robot is shown in fig. 8, the exploded structure schematic diagram of the leg pushing device 4 of the waist exoskeleton robot is shown in fig. 9, please refer to fig. 8 and 9, the leg pushing device 4 comprises a vertical turning rod 35, a horizontal turning rod 36, a horizontal straight rod 37 and a leg supporting block 38, wherein one end of the vertical turning rod 35 is fixedly connected with the long straight rod 17 through a thread, the other end of the vertical turning rod 35 is fixedly connected with the horizontal turning rod 36 through a thread, the horizontal turning rod 36 is fixedly connected with the horizontal straight rod 37 through a thread, and the horizontal straight rod 37 is fixed on the leg supporting block 38 adapted to the curved surface of the thigh of the human body, so as to ensure that the thigh of the human body is better attached to the leg pushing device.
The long straight rod 17, the vertical turning rod 35, the horizontal turning rod 36 and the horizontal straight rod 37 are all provided with screw holes, and the fixing positions of the long straight rod 17 and the vertical turning rod 35, the vertical turning rod 35 and the horizontal turning rod 36 and the horizontal straight rod 37 are adjusted through bolts, so that the purpose of adjusting the length is achieved.
According to the back supporting device, the hip connecting device, the leg energy storing device and the leg ejecting device, the back supporting device can be worn on the back of a human body in a fitting manner, compared with the existing chest supporting structure, the wearing comfort of the human body is greatly improved, the leg energy storing device is simple in structure and good in power assisting effect, the leg ejecting device can be well attached to thighs of the human body, and the maximum angle of forward bending of a user wearing the waist exoskeleton can reach 90 degrees. In addition, the sizes of the back supporting device and the hip connecting device can be adjusted to adapt to users with different body shapes.
Claims (6)
1. The waist exoskeleton robot is characterized by comprising a back supporting device (1), a hip connecting device (2), leg energy storage devices (3) and leg jacking devices (4), wherein the back supporting device (1) is fixedly connected with the middle part of the hip connecting device (2), two end parts of the hip connecting device (2) are hinged with the leg energy storage devices (3), and the leg energy storage devices (3) are fixedly connected with the leg jacking devices (4);
the back supporting device (1) comprises a back plate (11) conforming to ergonomics, the end parts of two braces (5) are respectively fixed on the inner side surface of the back plate (11), a waistband (6) with a buckle is fixedly connected between the two braces (5), a back telescopic outer rod fixing block (10) is fixed on the lower part of the outer side surface of the back plate (11), a back telescopic outer rod (9) penetrates through the back telescopic outer rod fixing block (10) to be fixed inside, one end of a telescopic back telescopic inner rod (8) is inserted into the back telescopic outer rod (9), and the other end of the telescopic back telescopic inner rod is fixedly connected with a hip upper joint (12) of the hip connecting device (2);
the hip connecting device (2) comprises a hip upper joint (12), the hip upper joint (12) is fixedly connected with a hip telescopic inner rod (13), a hip telescopic outer rod (14) is sleeved on the hip telescopic inner rod (13), the hip telescopic outer rod (14) is fixedly connected with one end of a hip lower joint (15), and the other end of the hip lower joint (15) is hinged with a leg connecting rod (21) of the leg energy storage device (3);
the leg energy storage device (3) comprises a binding band (19), two ends of the binding band (19) are fixed on an inner side plate (34) to form a cylinder shape, the inner side plate (34), an outer side plate (16), a bottom plate (23), an upper shell (20) and a lower shell (18) are fixedly connected to form a box body, a leg connecting rod (21) is fixedly connected with a crank (22) positioned in the box body, the crank (22) is hinged with a cylindrical pin (25) and a connecting rod (27), two ends of the cylindrical pin (25) are respectively connected with the outer side plate (16) and the inner side plate (34), the connecting rod (27) is hinged with a sliding block (28), a spring limiting block (29) is fixedly connected below the sliding block (28), the sliding block (28) and the spring limiting block (29) are sleeved on a guide rod (30) and are in sliding connection with the guide rod (30), the spring limiting block (29) is fixedly connected with one end of a compression spring (31), the lower fixing block (33) is fixedly connected with the bottom plate (23), one end of the long straight rod (17) is fixedly connected with the lower fixing block (33), and the other end of the long straight rod (17) is connected with the leg jacking device (4);
the leg pushing device (4) comprises a vertical crank rod (35), one end of the vertical crank rod (35) is fixedly connected with the long straight rod (17), the other end of the vertical crank rod (35) is fixedly connected with a horizontal crank rod (36), the horizontal crank rod (36) is fixedly connected with a horizontal straight rod (37), and the horizontal straight rod (37) is fixed on a leg supporting block (38) which is adaptive to the curved surface of the thigh of a human body;
the hip telescopic outer rod (14) and the hip telescopic inner rod (13) are respectively provided with a screw hole, and the fixing position between the hip telescopic outer rod (14) and the hip telescopic inner rod (13) is adjusted through a bolt or a buckle;
all be equipped with the screw on long straight-bar (17), vertical turning pole (35), horizontal turning pole (36), horizontal straight-bar (37), all adjust the consolidation position through the bolt between long straight-bar (17) and vertical turning pole (35), between vertical turning pole (35) and horizontal turning pole (36), between horizontal turning pole (36) and horizontal straight-bar (37).
2. The waist exoskeleton robot as claimed in claim 1, wherein the back telescopic inner rod (8) and the back telescopic outer rod (9) are provided with screw holes, and the fixing position between the back telescopic inner rod (8) and the back telescopic outer rod (9) is adjusted by bolts or buckles.
3. The lumbar exoskeleton robot as claimed in claim 1, wherein a back pad (7) is fixed to the back plate (11).
4. The lumbar exoskeleton robot as claimed in claim 1, wherein a top post (24) for structural stability is fixedly connected between the outer and inner side plates (16, 34).
5. The lumbar exoskeleton robot as claimed in claim 1, wherein support blocks (32) for structural stability are fixedly connected between the outer and inner side plates (16, 34).
6. The waist exoskeleton robot as claimed in claim 1, wherein an upper fixing block (26) for limiting the movement of the guide bar (30) is fixedly connected to the base plate (23).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811484414.0A CN109318215B (en) | 2018-12-06 | 2018-12-06 | Waist exoskeleton robot |
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| CN201811484414.0A CN109318215B (en) | 2018-12-06 | 2018-12-06 | Waist exoskeleton robot |
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| CN109318215A CN109318215A (en) | 2019-02-12 |
| CN109318215B true CN109318215B (en) | 2021-01-15 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110370250A (en) * | 2019-08-07 | 2019-10-25 | 广东博智林机器人有限公司 | Exoskeleton robot |
| CN111993393B (en) * | 2020-09-02 | 2022-02-11 | 三一建筑机器人(西安)研究院有限公司 | Limb driver and power assisting device |
| CN112970362A (en) * | 2021-04-20 | 2021-06-18 | 乔俊强 | Auxiliary working device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103735386B (en) * | 2013-11-15 | 2015-11-18 | 北京航空航天大学 | Wearable lower limb exoskeleton rehabilitation robot |
| CN103610568B (en) * | 2013-12-16 | 2015-05-27 | 哈尔滨工业大学 | Human-simulated external skeleton robot assisting lower limbs |
| CN106667720B (en) * | 2015-11-10 | 2020-06-12 | 北京航空航天大学 | Hip joint spring motor parallel driver of wearable lower limb exoskeleton rehabilitation robot |
| CN108393869B (en) * | 2018-03-01 | 2024-03-15 | 广州海同工业技术有限公司 | Intelligent waist passive power assisting exoskeleton |
| 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 |
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