CN109820697A - Multi-functional auxiliary walking ectoskeleton containing used appearance - Google Patents
Multi-functional auxiliary walking ectoskeleton containing used appearance Download PDFInfo
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- CN109820697A CN109820697A CN201910141978.2A CN201910141978A CN109820697A CN 109820697 A CN109820697 A CN 109820697A CN 201910141978 A CN201910141978 A CN 201910141978A CN 109820697 A CN109820697 A CN 109820697A
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- ectoskeleton
- spring
- damping
- damper mechanism
- used appearance
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Abstract
The multi-functional auxiliary that the invention discloses a kind of containing used appearance is walked ectoskeleton, including bottom plate, limit plate, four flexural pivots, two braces and two shank bars, four flexural pivots are distributed in plate top surface in quadrangle, limit plate is fixed on plate top surface, at heel, limitation foot is played when walking to slide backward, four flexural pivots are divided into two groups in pairs, first group is located at forefoot two sides, second group of front positioned at limit plate, two shank bars are close to shank two sides, its bottom end be rotatablely connected respectively with second group of flexural pivot, two brace bottom ends are rotatablely connected with first group of flexural pivot respectively, top is rotatablely connected with two shank club bodies by revolute pair respectively.The present invention, which solves existing auxiliary walking ectoskeleton, does not have vibration-damping function, or the problem for causing damping property weaker only with traditional spring-damper damper mechanism.
Description
Technical field
The invention belongs to mechanical exoskeleton technologies, and in particular to a kind of multi-functional auxiliary walking ectoskeleton containing used appearance.
Background technique
Used container there are two can freely relative motion endpoint, when a pair of of power acts on two endpoints, two endpoints
Relative acceleration and power it is proportional, which is constant, referred to as inertia.The used main feature held includes: with two
A independence, free movement endpoint；With lesser quality and independent inertia；Any endpoint is not needed to add in inertial reference
It fastens；With limited linear course, and submit to the proper restraint of overall dimensions.
The used major function held includes absorption of vibrations, suspension design, instead of quality etc., is had broad application prospects.?
Transport service field, it is used to hold the vibration damping that can be used for undercarriage, the suspension system of the various vehicles such as train, automobile can be used in
Middle promotion suspension property, so as to improve various performance indicators such as riding comfort, tire road holding, vehicle controllabilities.It is building
Engineering field is built, it is used to hold the vibration damping that can be used for multi-layer construction structure, effectively improve the antiseismic ability of building.
Used concept of holding proposes so far, to have had already appeared the used capacitance device of multiple structural forms, according to used appearance way of realization
Difference, used appearance can be divided into mechanical used appearance and fluid is used to hold two major classes.Used appearance can realize by several different methods, such as
Ball screw type is used to appearance, torsional mode is used to appearance, hydraulic piston type is used to appearance, hydraulic pump type is used to appearance, spiral liquid is used to appearance etc..
Auxiliary walking ectoskeleton technology can make the handicapped people in leg obtain ability to act, help with leg diseases or
The patient of leg injury carries out rehabilitation.
Summary of the invention
The multi-functional auxiliary that the purpose of the present invention is to provide a kind of containing used appearance is walked ectoskeleton, solves existing secondary row
Walking ectoskeleton does not have vibration-damping function, or the problem for causing damping property weaker only with traditional spring-damper damper mechanism.
The technical solution for realizing the aim of the invention is as follows: a kind of multi-functional auxiliary walking ectoskeleton containing used appearance, including
Bottom plate, limit plate, four flexural pivots, two braces and two shank bars, four flexural pivots are distributed in plate top surface in quadrangle, limit
Plate is fixed on plate top surface, is located at heel, plays limitation foot when walking and slides backward, four flexural pivots are divided into two in pairs
Group, first group is located at forefoot two sides, second group of front positioned at limit plate, and two shank bars are close to shank two sides, bottom end
Be rotatablely connected respectively with second group of flexural pivot, two brace bottom ends are rotatablely connected with first group of flexural pivot respectively, and top is respectively with two
Root shank club body is rotatablely connected by revolute pair.
Brace includes the first pressurized strut and the first damper mechanism, the upper end of the lower end of the first pressurized strut and the first damper mechanism
It is connected.
Shank bar includes the second pressurized strut and the second damper mechanism, and the lower end of the second pressurized strut is upper with the second damper mechanism
End is connected.
Compared with prior art, the present invention its remarkable advantage is: (1) can effectively improve mechanical structure using used appearance and subtract
The characteristic for performance of shaking promotes the damping property of auxiliary walking ectoskeleton.
(2) auxiliary walking ectoskeleton is made by damper mechanism, pressurized strut while there is vibration damping, regulatory function, enhancing auxiliary
The practicability of walking ectoskeleton, makes it be applicable to wider application range.
Detailed description of the invention
Fig. 1 is the three-dimensional figure of the auxiliary walking ectoskeleton of the present invention containing used appearance.
Fig. 2 is the front view of Fig. 1.
Fig. 3 is the top view of Fig. 1.
Fig. 4 is the three-dimensional figure of the brace of Fig. 1, and wherein damper mechanism uses embodiment 1.
Fig. 5 is the three-dimensional figure of the shank bar of Fig. 1, and wherein damper mechanism uses embodiment 1.
Fig. 6 is 2 figure of embodiment of the damper mechanism of Fig. 1.
Fig. 7 is 3 figure of embodiment of the damper mechanism of Fig. 1.
Specific embodiment
Present invention is further described in detail with reference to the accompanying drawing.
In conjunction with Fig. 1 to Fig. 7, a kind of multi-functional auxiliary walking ectoskeleton containing used appearance, including bottom plate 1, limit plate 5, four
2, two braces 6 of flexural pivot and two shank bars 7, four flexural pivots 2 are distributed in 1 top surface of bottom plate in quadrangle, and limit plate 5 is fixed on bottom
1 top surface of plate is located at heel, plays limitation foot when walking and slides backward, four flexural pivots 2 are divided into two groups, first group in pairs
Positioned at forefoot two sides, second group of front positioned at limit plate 5, two shank bars 7 are close to shank two sides, and 7 bottom end of shank bar is
Spherical shape, bottom end be rotatablely connected respectively with second group of flexural pivot 2, two 6 bottom ends of brace are spherical shape, bottom end respectively with first group of flexural pivot
2 rotation connections, top are rotatablely connected with two 7 shafts of shank bar by revolute pair respectively.
Brace 6 includes the first pressurized strut 10 and the first damper mechanism, lower end and the first damper mechanism of the first pressurized strut 10
Upper end be connected.
Further, the first damper mechanism includes the first spring 11, first damping 12 and the first used appearance 13 in parallel.
Further, the first damper mechanism includes the first spring 11, first damping 12 and the first used appearance 13, wherein the first resistance
Buddhist nun 12 and the first used appearance 13 are in parallel with the first spring 11 after connecting.
First damper mechanism includes first the 12, first used appearance 13 of damping and two first springs 11, wherein the first damping 12
In parallel with first spring 11 is the first branch, first it is used it is in parallel to hold 13 another first springs 11 is second branch, first
Branch and second branch are connected again.
Shank bar 7 includes the second pressurized strut 15 and the second damper mechanism, the lower end of the second pressurized strut 15 and the second vibration damping machine
The upper end of structure is connected.
Second damper mechanism includes the damping of second spring 16, second 17 and the second used appearance 18 in parallel.
Second damper mechanism include the damping of second spring 16, second 17 and second it is used hold 18, wherein the second damping 17 and the
It is in parallel with second spring 16 after two used 18 series connection of appearance.
Second damper mechanism includes second the 17, second used appearance 18 of damping and two second springs 16, wherein the second damping 17
In parallel with second spring 16 is the first branch, first it is used it is in parallel to hold 18 another second springs 16 is second branch, first
Branch and second branch are connected again.
The multi-functional auxiliary walking ectoskeleton containing used appearance, further includes the first restraining 3, the second restraining 4 and third
Restraining 8,3 both ends of the first restraining are fixed on 1 top surface of bottom plate, and are located at forefoot position, and 4 both ends of the second restraining are fixed on
1 top surface of bottom plate, and it is located at second group of flexural pivot, 2 front, the first restraining 3 and the second restraining 4 are used to foot being bundled in bottom plate 1
On；Third restraining 8 in a ring, fixes two shank bars, 7 top, for binding leg and shank bar 7.
When walking, when the described auxiliary walking ectoskeleton, which is located at, not to land in the air, two first pressurized struts 10 and two
The length of second pressurized strut 15 changes the length for making shank bar 7 and bottom plate 1 and the angle of shank bar 7 changes, to make outer
Bone reaches the posture for being suitble to current road conditions before landing.After ectoskeleton landing, two first pressurized struts 10 and two second
The length of pressurized strut 15 is kept fixed, according to landing posture and contact ground sequencing, with two first pressurized struts 10 and
Four connected damper mechanisms of two second pressurized struts 15 play vibration-damping function each independently.
Claims (10)
- The ectoskeleton 1. a kind of multi-functional auxiliary containing used appearance is walked, it is characterised in that: including bottom plate (1), limit plate (5), four Flexural pivot (2), two brace (6) He Lianggen shank bars (7), four flexural pivots (2) are distributed in bottom plate (1) top surface in quadrangle, limit Plate (5) is fixed on bottom plate (1) top surface, is located at heel, plays limitation foot when walking and slides backward, four flexural pivots (2) two-by-two one Group is divided into two groups, and first group is located at forefoot two sides, second group of front positioned at limit plate (5), and two shank bars (7) are close to small Leg two sides, bottom end be rotatablely connected respectively with second group of flexural pivot (2), two brace (6) bottom ends respectively with first group of flexural pivot (2) Rotation connection, top are rotatablely connected with two shank bar (7) shafts by revolute pair respectively.
- The ectoskeleton 2. multi-functional auxiliary according to claim 1 containing used appearance is walked, it is characterised in that: brace (6) includes First pressurized strut (10) and the first damper mechanism, the lower end of the first pressurized strut (10) and the upper end of the first damper mechanism are connected.
- The ectoskeleton 3. the multi-functional auxiliary according to claim 2 containing used appearance is walked, it is characterised in that: the first damper mechanism Including the first spring (11) in parallel, the first damping (12) and the first used appearance (13).
- The ectoskeleton 4. the multi-functional auxiliary according to claim 3 containing used appearance is walked, it is characterised in that: the first damper mechanism Including the first spring (11), the first damping (12) and the first used appearance (13), wherein the first damping (12) and first is used to hold (13) string It is in parallel with the first spring (11) after connection.
- The ectoskeleton 5. the multi-functional auxiliary according to claim 3 containing used appearance is walked, it is characterised in that: the first damper mechanism Including the first damping (12), the first used appearance the first spring of (13) He Lianggen (11), wherein first damping the first bullet of (12) He Yigen It is the first branch that spring (11) is in parallel, first it is used it is in parallel to hold (13) another first spring (11) is second branch, the first branch and Second branch is connected again.
- The ectoskeleton 6. the multi-functional auxiliary according to claim 1 containing used appearance is walked, it is characterised in that: shank bar (7) packet The second pressurized strut (15) and the second damper mechanism are included, the lower end of the second pressurized strut (15) and the upper end of the second damper mechanism are connected.
- The ectoskeleton 7. the multi-functional auxiliary according to claim 6 containing used appearance is walked, it is characterised in that: the second damper mechanism Including second spring (16) in parallel, the second damping (17) and the second used appearance (18).
- The ectoskeleton 8. the multi-functional auxiliary according to claim 6 containing used appearance is walked, it is characterised in that: the second damper mechanism Including second spring (16), the second damping (17) and the second used appearance (18), wherein the second damping (17) and second is used to hold (18) string It is in parallel with second spring (16) after connection.
- The ectoskeleton 9. the multi-functional auxiliary according to claim 6 containing used appearance is walked, it is characterised in that: the second damper mechanism Including the second damping (17), the second used appearance (18) He Lianggen second spring (16), wherein second damping the second bullet of (17) He Yigen It is the first branch that spring (16) is in parallel, first it is used it is in parallel to hold (18) another second spring (16) is second branch, the first branch and Second branch is connected again.
- The ectoskeleton 10. the multi-functional auxiliary according to claim 1 containing used appearance is walked, it is characterised in that: further include first Restraining (3), the second restraining (4) and third restraining (8), the first restraining (3) both ends are fixed on bottom plate (1) top surface, and Positioned at forefoot position, the second restraining (4) both ends are fixed on bottom plate (1) top surface, and are located in front of second group of flexural pivot (2), the One restraining (3) and the second restraining (4) are used to foot being bundled in bottom plate (1)；Third restraining (8) in a ring, fixes two At the top of root shank bar (7), for leg and shank bar (7) to be bound.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910141978.2A CN109820697A (en) | 2019-02-26 | 2019-02-26 | Multi-functional auxiliary walking ectoskeleton containing used appearance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910141978.2A CN109820697A (en) | 2019-02-26 | 2019-02-26 | Multi-functional auxiliary walking ectoskeleton containing used appearance |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109820697A true CN109820697A (en) | 2019-05-31 |
Family
ID=66864540
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910141978.2A Pending CN109820697A (en) | 2019-02-26 | 2019-02-26 | Multi-functional auxiliary walking ectoskeleton containing used appearance |
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| CN (1) | CN109820697A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113119161A (en) * | 2021-03-24 | 2021-07-16 | 江苏电子信息职业学院 | Damping device of exoskeleton robot |
Citations (6)
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| CN2710848Y (en) * | 2004-07-02 | 2005-07-20 | 浙江大学 | Wearing type ectoskeleton manipulator |
| US20090200880A1 (en) * | 2006-04-14 | 2009-08-13 | Mortimer Bruce J P | Wide band vibrational stimulus device |
| CN104494387A (en) * | 2014-11-12 | 2015-04-08 | 江苏大学 | Vehicle inertia suspension structure and parameter determination method thereof |
| CN105686927A (en) * | 2016-01-08 | 2016-06-22 | 中国人民解放军理工大学 | A foldable portable lower extremity exoskeleton |
| CN108482201A (en) * | 2018-04-19 | 2018-09-04 | 东北大学 | A kind of ISD shock absorbing seats |
| CN108567546A (en) * | 2018-04-10 | 2018-09-25 | 超微（上海）骨科医院管理股份有限公司 | A kind of wearable ankle rehabilitation parallel robot and its application method of four-degree-of-freedom |
-
2019
- 2019-02-26 CN CN201910141978.2A patent/CN109820697A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2710848Y (en) * | 2004-07-02 | 2005-07-20 | 浙江大学 | Wearing type ectoskeleton manipulator |
| US20090200880A1 (en) * | 2006-04-14 | 2009-08-13 | Mortimer Bruce J P | Wide band vibrational stimulus device |
| CN104494387A (en) * | 2014-11-12 | 2015-04-08 | 江苏大学 | Vehicle inertia suspension structure and parameter determination method thereof |
| CN105686927A (en) * | 2016-01-08 | 2016-06-22 | 中国人民解放军理工大学 | A foldable portable lower extremity exoskeleton |
| CN108567546A (en) * | 2018-04-10 | 2018-09-25 | 超微（上海）骨科医院管理股份有限公司 | A kind of wearable ankle rehabilitation parallel robot and its application method of four-degree-of-freedom |
| CN108482201A (en) * | 2018-04-19 | 2018-09-04 | 东北大学 | A kind of ISD shock absorbing seats |
Non-Patent Citations (1)
| Title |
|---|
| YUTA HANAZAWA ET AL: "Analysis and experiment of flat-footed passive dynamic walker with ankle inerter", 《2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS 》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113119161A (en) * | 2021-03-24 | 2021-07-16 | 江苏电子信息职业学院 | Damping device of exoskeleton robot |
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Application publication date: 20190531 |
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