CN110465967A - A kind of adaptive knee-joint mechanism for wearable ectoskeleton - Google Patents
A kind of adaptive knee-joint mechanism for wearable ectoskeleton Download PDFInfo
- Publication number
- CN110465967A CN110465967A CN201910828463.XA CN201910828463A CN110465967A CN 110465967 A CN110465967 A CN 110465967A CN 201910828463 A CN201910828463 A CN 201910828463A CN 110465967 A CN110465967 A CN 110465967A
- Authority
- CN
- China
- Prior art keywords
- interconnecting piece
- interior
- joint mechanism
- knee
- pulley
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- 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)
- Orthopedics, Nursing, And Contraception (AREA)
- Prostheses (AREA)
- Professional, Industrial, Or Sporting Protective Garments (AREA)
Abstract
This application provides a kind of adaptive knee-joint mechanisms for wearable ectoskeleton, it is characterized in that, the knee-joint mechanism includes at least one interconnecting piece, it is connected to two outer connectors of interconnecting piece or more two sides, the interconnecting piece is rotated with the outer connector being located on the upside of interconnecting piece by first rotating shaft and is connect, the interconnecting piece is rotated with the outer connector being located on the downside of interconnecting piece by the second shaft and is connect, the first rotating shaft and the second shaft is located at the interior location of the outer connector and interconnecting piece, the rear end of the outer connector is equipped with second pulley, the rear end of the interconnecting piece is equipped with first pulley.
Description
Technical field
This application involves a kind of adaptive knee-joint mechanisms for wearable ectoskeleton.
Background technique
Ectoskeleton referred to a kind of hard outer structure that biology interior soft organ is protected in biology, and present dermoskeleton originally
Bone robot refers to a kind of imitation human motion state, reinforces Human Stamina, collection bionics and ergonomics machine
Tool device is worn on the outside of human body limb, people can be improved in the ability of the particular aspects such as traveling durability, weight bearing ability.
Since exoskeleton robot is related to ergonomics, this requires it to be not only applicable in different building shape compared with strong adaptability and wear
Wearer, while also protection from hazards is carried out to human synovial, it prevents from causing injury of human in donning process.
The many knee joints of the exoskeleton robot of the prior art can not determine human synovial from outside without adaptivity
When accurate location, the ectoskeleton and human synovial that will cause misplace, and wearer is made not feel good, and can even cause when used for a long time
Knee joint complications, and possess the structure of adaptivity often structure is larger compared with size and weight.
Summary of the invention
The application technical problems to be solved are to provide a kind of adaptive knee-joint mechanism for wearable ectoskeleton.
In order to solve the above-mentioned technical problem, this application provides a kind of adaptive knee joint machines for wearable ectoskeleton
Structure, which is characterized in that the knee-joint mechanism includes at least one interconnecting piece, is connected to interconnecting piece two sides up and down
Two outer connectors, the interconnecting piece rotated company by first rotating shaft with the outer connector being located on the upside of interconnecting piece
It connecing, the interconnecting piece is rotated and is connect with the outer connector being located on the downside of interconnecting piece by the second shaft, and described the
One shaft and the second shaft are located at the interior location of the outer connector and interconnecting piece, the rear end peace of the outer connector
Equipped with second pulley, the rear end of the interconnecting piece is equipped with first pulley.
Preferably, in the knee-joint mechanism bending process, the interconnecting piece is by first rotating shaft with respect to position
Outer connector rotation on the upside of interconnecting piece, the interconnecting piece are located relatively on the downside of interconnecting piece by the second shaft
Outer connector rotation, is located remotely from each other between adjacent first pulley and second pulley.
Preferably, the outer connector includes two outer connection sheets being oppositely arranged, and two outer connection sheets connect by one
Socket part is connected, and the front end of the outer connection sheet offers outer shaft hole and lower outer shaft hole, the upper outer shaft hole location respectively
In the upside of the interconnecting piece, the lower outer shaft hole is located at the downside of the interconnecting piece, and the interconnecting piece includes
Interior link block, two on rear side of the interior link block interior connection sheets being oppositely arranged, the interior link block offer inner shaft
Hole and lower interior axis hole, the upper interior axis hole of the interconnecting piece are lower outer with the outer connector on the upside of the interconnecting piece
Axis hole is oppositely arranged, and is rotated connection by the first rotating shaft, the lower interior axis hole of the interconnecting piece be located at institute
The upper outer shaft hole for the outer connector on the downside of interconnecting piece stated is oppositely arranged, and is rotated connection by second shaft.
Preferably, first pulley mounting hole is offered in two interior connection sheets of the interconnecting piece, described first
Pulley is mounted between two interior connection sheets by the first pulley mounting hole.
Preferably, second pulley mounting hole is also provided in the outer connection sheet, the second pulley passes through described
Second pulley mounting hole be installed between two outer connection sheets.
Preferably, a limited block, the lower edges of the limited block are additionally provided on the outer wall of the interior connection sheet
Respectively first outer confined planes, the two sides up and down of the outer connection sheet are respectively provided with to be matched with the described first outer confined planes
The second outer confined planes, when the knee-joint mechanism is in un-flexed state, limited block is sandwiched on interior link block
Between the connection sheet of lower two sides, two the first outer confined planes of limited block are in contact with the second adjacent outer confined planes respectively.
Preferably, the lower edges of the interconnecting piece are respectively interior confined planes, the interior link block of the interconnecting piece
Two sides up and down have interior limit angle corresponding with the interior confined planes, in the knee-joint mechanism in bending process
In, when the interior limit angle is in contact with the interior confined planes, knee-joint mechanism is bent to maximum angle.
Preferably, between two outer connection sheets of at least part insertion outer connector of the interior link block.
Preferably, the knee-joint mechanism includes multiple outer connectors and multiple interconnecting pieces, the outer connector
With interconnecting piece spaced series.
A kind of adaptive knee-joint mechanism for wearable ectoskeleton of the application, provide it is a kind of small in size, it is light-weight,
The compact-sized adaptive knee joint structure with adaptivity facilitates different building shape wearer to adjust ectoskeleton.With it is existing
Technology is compared, and the present invention provides a kind of adaptive knee joint structure, make knee joint rotation when smoothness self-heating, outer connection sheet with it is interior
Connection sheet is mutually chimeric, can bear biggish sideway torque, and have the function of position limitation protection.
Referring to following description and accompanying drawings, specific implementations of the present application are disclosed in detail, specify the original of the application
Reason can be in a manner of adopted.It should be understood that presently filed embodiment is not so limited in range.In appended power
In the range of the spirit and terms that benefit requires, presently filed embodiment includes many changes, modifications and is equal.
The feature for describing and/or showing for a kind of embodiment can be in a manner of same or similar one or more
It uses in a other embodiment, is combined with the feature in other embodiment, or the feature in substitution other embodiment.
It should be emphasized that term "comprises/comprising" refers to the presence of feature, one integral piece, step or component when using herein, but simultaneously
It is not excluded for the presence or additional of one or more other features, one integral piece, step or component.
Detailed description of the invention
Attached drawing described here is only used for task of explanation, and is not intended to limit model disclosed in the present application in any way
It encloses.In addition, shape and proportional sizes of each component in figure etc. are only schematical, it is used to help the understanding to the application, and
It is not the specific shape and proportional sizes for limiting each component of the application.Those skilled in the art, can under teachings of the present application
Implement the application to select various possible shapes and proportional sizes as the case may be.In the accompanying drawings:
Fig. 1 is a kind of structural schematic diagram of adaptive knee-joint mechanism for wearable ectoskeleton；
Fig. 2 is the structural schematic diagram of the outer connector of the application；
Fig. 3 is the structural schematic diagram of the interconnecting piece of the application；
Fig. 4 is the side view of the knee-joint mechanism of the application；
Fig. 5 is cross-sectional view of the Fig. 4 in the direction A-A；
Fig. 6 is structural schematic diagram of the knee-joint mechanism in the state of distortion of the application.
Wherein: 100, outer connector；200, interconnecting piece；300, first pulley；400, second pulley；
11, outer connection sheet；12, upper outer shaft hole；13, lower outer shaft hole；14, second pulley mounting hole；15, interconnecting piece；
21, interior link block；22, interior connection sheet；23, first pulley mounting hole；24, upper interior axis hole；25, lower interior axis hole；26,
Limited block；
111, the second outer confined planes；211, interior limit angle；151, interior confined planes；261, the first outer confined planes.
Specific embodiment
Below in conjunction with the attached drawing in the application embodiment, the technical solution in the application embodiment is carried out clear
Chu is fully described by, it is clear that described embodiment is only a part of embodiment of the application, rather than whole realities
Apply mode.Based on the embodiment in the application, those of ordinary skill in the art institute without creative efforts
The every other embodiment obtained, shall fall in the protection scope of this application.
It should be noted that it can directly on the other element when element is referred to as " being set to " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement for illustrative purposes only, are not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein and the technical field for belonging to the application
The normally understood meaning of technical staff is identical.The term used in the description of the present application is intended merely to description tool herein
The purpose of the embodiment of body, it is not intended that in limitation the application.Term as used herein "and/or" includes one or more
Any and all combinations of relevant listed item.
As shown, this application provides a kind of adaptive knee-joint mechanism for wearable ectoskeleton, feature exists
In the knee-joint mechanism includes at least one interconnecting piece 200, is connected to the two of about 200 two sides of interconnecting piece
A outer connector 100, the interconnecting piece 200 pass through first rotating shaft and the outer connector 100 for being located at 200 upside of interconnecting piece
Rotate connection, and the interconnecting piece 200 passes through the second shaft and 100 phase of outer connector for being located at 200 downside of interconnecting piece
Rotation connection, the first rotating shaft and the second shaft are located at the interior position of the outer connector 100 and interconnecting piece 200
It sets, the rear end of the outer connector 100 is equipped with second pulley 400, and the rear end of the interconnecting piece 200 is equipped with first
Pulley 300.In the knee-joint mechanism bending process, the interconnecting piece 200 is located relatively at interior by first rotating shaft
The outer connector 100 of 200 upside of connector rotates, and the interconnecting piece 200 is located relatively at interconnecting piece by the second shaft
The outer connector 100 of 200 downsides rotates, and is located remotely from each other between adjacent first pulley 300 and second pulley 400.
The outer connector 100 includes two outer connection sheets 11 being oppositely arranged, and two outer connection sheets 11 connect by one
Socket part 15 is connected, and the front end of the outer connection sheet 11 offers outer shaft hole 12 and lower outer shaft hole 13 respectively, and described is upper
Outer shaft hole 12 is located at the upside of the interconnecting piece 15, and the lower outer shaft hole 13 is located at the downside of the interconnecting piece 15, institute
The interconnecting piece 200 stated includes interior link block 21, positioned at two interior connection sheets 22 being oppositely arranged of interior 21 rear side of link block, institute
The interior link block 21 stated offers interior axis hole 24 and lower interior axis hole 25, the upper interior axis hole 24 of the interconnecting piece 200 and position
It is oppositely arranged in the lower outer shaft hole 13 of the outer connector 100 of 200 upside of interconnecting piece, and passes through the first rotating shaft
Rotate connection, the lower interior axis hole 25 of the interconnecting piece 200 and the outer connection for being located at 200 downside of interconnecting piece
The upper outer shaft hole 12 of part 100 is oppositely arranged, and is rotated connection by second shaft.The interconnecting piece 200
First pulley mounting hole 23 is offered in two interior connection sheets 22, the first pulley 300 is pacified by the first pulley
Dress hole 23 is mounted between two interior connection sheets 22.Second pulley mounting hole 14, institute are also provided in the outer connection sheet 11
The second pulley 400 stated is installed between two outer connection sheets 11 by the second pulley mounting hole 14.Connect in described
It connects between two outer connection sheets 11 of at least part insertion outer connector 100 of block 21, knee-joint mechanism is made to keep stablizing.
A limited block 26, the lower edges point of the limited block 26 are additionally provided on the outer wall of the interior connection sheet 22
Not Wei the first outer confined planes 261, the two sides up and down of the outer connection sheet 11 are respectively provided with and the described first outer confined planes 261
The outer confined planes 111 of second matched, when the knee-joint mechanism is in un-flexed state, limited block 26, which is sandwiched in, to be located at
Between the connection sheet of interior about 21 two sides of link block, two the first outer confined planes 261 of limited block 26 are respectively with adjacent second
Outer confined planes 111 are in contact.The lower edges of the interconnecting piece 15 are respectively interior confined planes 151, the interconnecting piece 200
Interior link block 21 two sides up and down have interior limit angle 211 corresponding with the interior confined planes 151, in the knee
Articulation mechanism during bending, when the interior limit angle 211 is in contact with the interior confined planes 151, knee joint machine
Structure is bent to maximum angle, can bear biggish sideway torque, protects human body knee joint.
The knee-joint mechanism includes multiple outer connectors 100 and multiple interconnecting pieces 200, the outer connector
100 and 200 spaced series of interconnecting piece.
A kind of adaptive knee-joint mechanism for wearable ectoskeleton of the application, provide it is a kind of small in size, it is light-weight,
The compact-sized adaptive knee joint structure with adaptivity facilitates different building shape wearer to adjust ectoskeleton.With it is existing
Technology is compared, and the present invention provides a kind of adaptive knee joint structure, makes knee joint smoothness self-heating in rotation, outer connection sheet 11 with
Interior connection sheet 22 is mutually chimeric, can bear biggish sideway torque, and have the function of position limitation protection.
Described herein defines in the front-back direction up and down as shown in Figure 1, upper outer shaft hole 12, which is located at, is opened in outer connection
The front end of part 100, lower outer shaft hole 13 are located at the lower position of upper outer shaft hole 12.
It should be noted that in the description of the present application, in the description of the present application, unless otherwise indicated, " multiples' "
It is meant that two or more.
All articles and reference disclosed, including patent application and publication, for various purposes by quoting knot
Together in this.Describing combined term " substantially by ... constitute " should include identified element, ingredient, component or step and reality
Other elements, ingredient, component or the step of the basic novel feature of the combination are not influenced in matter.Using term "comprising" or
" comprising " describes the combination of element here, ingredient, component or step it is also contemplated that substantially by these elements, ingredient, component
Or the embodiment that step is constituted.Here by using term " can with ", it is intended to illustrate that " can with " includes described any
Attribute is all optional.
Multiple element, ingredient, component or step can be provided by single integrated component, ingredient, component or step.Optionally
Ground, single integrated component, ingredient, component or step can be divided into multiple element, ingredient, component or the step of separation.It is used to
The open "a" or "an" for describing element, ingredient, component or step is not said to exclude other elements, ingredient, component
Or step.
It should be understood that above description is to illustrate rather than to be limited.By reading above-mentioned retouch
It states, many embodiments and many applications except provided example all will be aobvious and easy for a person skilled in the art
See.Therefore, the range of this introduction should not be determined referring to foregoing description, but should referring to preceding claims and this
The full scope of the equivalent that a little claims are possessed determines.For comprehensive purpose, all articles and with reference to including special
The disclosure of benefit application and bulletin is all by reference to being incorporated herein.Theme disclosed herein is omitted in preceding claims
Any aspect is not intended to abandon the body matter, also should not be considered as applicant the theme is not thought of as it is disclosed
Apply for a part of theme.
Claims (9)
1. a kind of adaptive knee-joint mechanism for wearable ectoskeleton, which is characterized in that the knee-joint mechanism includes
At least one interconnecting piece, two outer connectors for being connected to interconnecting piece or more two sides,
The interconnecting piece is rotated with the outer connector being located on the upside of interconnecting piece by first rotating shaft and is connect, and described is interior
Connector is rotated with the outer connector being located on the downside of interconnecting piece by the second shaft and is connect,
The first rotating shaft and the second shaft is located at the interior location of the outer connector and interconnecting piece,
The rear end of the outer connector is equipped with second pulley, and the rear end of the interconnecting piece is equipped with first pulley.
2. a kind of adaptive knee-joint mechanism for wearable ectoskeleton as described in claim 1, which is characterized in that in institute
In the knee-joint mechanism bending process stated, the interconnecting piece outer is connected by what first rotating shaft was located relatively on the upside of interconnecting piece
Fitting rotation, the interconnecting piece is located relatively at the outer connector on the downside of interconnecting piece by the second shaft and rotates, adjacent
It is located remotely from each other between first pulley and second pulley.
3. a kind of adaptive knee-joint mechanism for wearable ectoskeleton as claimed in claim 2, which is characterized in that
The outer connector includes two outer connection sheets being oppositely arranged, and two outer connection sheets are connected by an interconnecting piece,
The front end of the outer connection sheet offers outer shaft hole and lower outer shaft hole respectively, and the upper outer shaft hole is located at described
The upside of interconnecting piece, the lower outer shaft hole are located at the downside of the interconnecting piece,
The interconnecting piece includes interior link block, two on rear side of the interior link block interior connection sheets being oppositely arranged, described
Interior link block offer interior axis hole and lower interior axis hole,
The upper interior axis hole of the interconnecting piece is opposite with the lower outer shaft hole of outer connector being located on the upside of the interconnecting piece
Setting, and rotated connection by the first rotating shaft,
The lower interior axis hole of the interconnecting piece is opposite with the upper outer shaft hole of outer connector being located on the downside of the interconnecting piece
Setting, and rotated connection by second shaft.
4. a kind of adaptive knee-joint mechanism for wearable ectoskeleton as claimed in claim 3, which is characterized in that described
Interconnecting piece two interior connection sheets on offer first pulley mounting hole, the first pulley is sliding by described first
Wheel mounting hole is mounted between two interior connection sheets.
5. a kind of adaptive knee-joint mechanism for wearable ectoskeleton as claimed in claim 3, which is characterized in that described
Outer connection sheet on be also provided with second pulley mounting hole, the second pulley passes through the second pulley mounting hole and installs
Between two outer connection sheets.
6. a kind of adaptive knee-joint mechanism for wearable ectoskeleton as claimed in claim 3, which is characterized in that described
Interior connection sheet outer wall on be additionally provided with a limited block, the lower edges of the limited block are respectively the first outer confined planes,
The two sides up and down of the outer connection sheet are respectively provided with the second outer confined planes matched with the described first outer confined planes,
When the knee-joint mechanism is in un-flexed state, limited block is sandwiched in the connection of the two sides above and below interior link block
Between piece, two the first outer confined planes of limited block are in contact with the second adjacent outer confined planes respectively.
7. a kind of adaptive knee-joint mechanism for wearable ectoskeleton as claimed in claim 6, which is characterized in that described
Interconnecting piece lower edges be respectively in confined planes, the two sides up and down of the interior link block of the interconnecting piece have with it is described
The corresponding interior limit angle of interior confined planes,
The knee-joint mechanism during bending, when the interior limit angle is in contact with the interior confined planes,
Knee-joint mechanism is bent to maximum angle.
8. a kind of adaptive knee-joint mechanism for wearable ectoskeleton as claimed in claim 3, which is characterized in that described
Interior link block at least part insertion outer connector two outer connection sheets between.
9. a kind of adaptive knee-joint mechanism for wearable ectoskeleton as described in claim 1, which is characterized in that described
Knee-joint mechanism include multiple outer connectors and multiple interconnecting pieces, the outer connector and interconnecting piece spaced series.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910828463.XA CN110465967A (en) | 2019-09-03 | 2019-09-03 | A kind of adaptive knee-joint mechanism for wearable ectoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910828463.XA CN110465967A (en) | 2019-09-03 | 2019-09-03 | A kind of adaptive knee-joint mechanism for wearable ectoskeleton |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110465967A true CN110465967A (en) | 2019-11-19 |
Family
ID=68514730
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910828463.XA Pending CN110465967A (en) | 2019-09-03 | 2019-09-03 | A kind of adaptive knee-joint mechanism for wearable ectoskeleton |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110465967A (en) |
-
2019
- 2019-09-03 CN CN201910828463.XA patent/CN110465967A/en active Pending
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Effective date of registration: 20210903 Address after: 215100 room d306, South third floor, huanxiuhu building (formerly Yicheng Horticulture), high speed railway new town, Xiangcheng District, Suzhou, Jiangsu Province Applicant after: Maybe Intelligent Technology (Suzhou) Co.,Ltd. Address before: 215100 South 3rd and 4th Floors of Huanxiu Lake Building, Xiangcheng High-speed Railway New Town, Suzhou City, Jiangsu Province Applicant before: JIANGSU JICUI MICRO-NANO AUTOMATION SYSTEM AND EQUIPMENT TECHNOLOGY RESEARCH INSTITUTE Co.,Ltd. |
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