CN110712190A - Supporting structure for putting on and taking off exoskeleton robot - Google Patents
Supporting structure for putting on and taking off exoskeleton robot Download PDFInfo
- Publication number
- CN110712190A CN110712190A CN201910797531.0A CN201910797531A CN110712190A CN 110712190 A CN110712190 A CN 110712190A CN 201910797531 A CN201910797531 A CN 201910797531A CN 110712190 A CN110712190 A CN 110712190A
- Authority
- CN
- China
- Prior art keywords
- telescopic
- connecting rod
- gear
- rope
- groove
- Prior art date
- 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.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 78
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000008602 contraction Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000011835 investigation Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Images
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a putting-on and taking-off supporting structure of an exoskeleton robot, which comprises a control box, wherein the control box is placed on a back frame through a rack; the control box is provided with an up-down telescopic mechanism; the lower end of the up-down telescopic mechanism is provided with a support mechanism which can be unfolded. The invention achieves the following beneficial effects: the exoskeleton can be worn by one person conveniently, is convenient to wear, has light total weight and can be maintained simply by self.
Description
Technical Field
The invention relates to the technical field of ergonomics, in particular to a supporting structure for putting on and taking off an exoskeleton robot.
Background
In the fields of scientific investigation, fire rescue and the like, scientific investigation personnel and fire rescue personnel often need to walk for a long distance, bear heavy objects, transport wounded persons, fight in the field, climb mountain and explore and the like, and the traditional wheel type transportation tool is difficult to play a role in special occasions. In particular, army soldiers often need to walk or fight for long distance by using heavy loads, and the heavy loads often cause certain damage to the bodies of the soldiers.
Although the exoskeleton is gradually applied, the technology is still not perfect, and the exoskeleton can be called as the exoskeleton to some extent. These exoskeletons, which must be worn by others, are extremely inconvenient to wear, as well as to be removed, which is not very convenient for military soldiers, where the wearing and removal are essentially performed at base.
Therefore, the exoskeleton can be improved by the applicant, and the exoskeleton can be conveniently worn and detached by one person in the field.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a supporting structure for putting on and taking off an exoskeleton robot, which can be worn and worn by one person, is convenient to wear, can be maintained automatically and simply and has light total weight.
The purpose of the invention is realized by the following technical scheme: the exoskeleton robot wearing and taking-off supporting structure comprises a control box, wherein the control box is placed on a back frame through a rack; the control box is provided with an up-down telescopic mechanism;
the lower end of the up-down telescopic mechanism is provided with a support mechanism which can be unfolded.
The control box is vertically provided with a groove; the up-down telescopic mechanism is arranged in the groove and can be vertically telescopic along the groove; the supporting mechanism is also positioned in the groove after being retracted.
And a control system is arranged in the control box and controls the actions of the telescopic mechanism and the supporting mechanism.
Furthermore, the telescopic mechanism comprises a first telescopic piece and a second telescopic piece;
the left inner side and the right inner side of the groove are provided with a sliding groove A along the vertical direction, the sliding groove A is spaced from the groove bottom of the groove, the first telescopic piece is arranged in the sliding groove A, and a space is formed between the outer side surface of the first telescopic piece and the sliding groove A;
the first telescopic piece is arranged in the groove, and a sliding groove B in the vertical direction is formed in the first telescopic piece;
the second telescopic piece is installed with the groove A in a sliding fit mode, and a sliding groove C in the vertical direction is formed in the second telescopic piece;
the supporting mechanism is installed with the chute C in a sliding and adaptive mode.
The first telescopic part is in a portal frame shape, the upper end of the first telescopic part is a cross beam, the two sides of the first telescopic part are side plates, and the sliding groove B is positioned on the inner side surfaces of the two side plates; the second telescopic piece is only provided with two side plates, and the sliding groove C is positioned on the inner side surfaces of the two side plates; the upper end of the supporting mechanism is U-shaped.
Furthermore, a positive and negative motor A capable of self-locking is fixed on the control box, the motor A is in threaded fit with a cross beam of the first telescopic piece through a lead screw, and the motor A drives the first telescopic piece to move up and down;
the outer side of the lower end of the first telescopic piece, the inner side of the upper end of the second telescopic piece, the outer side of the lower end of the second telescopic piece and the inner side of the upper end of the supporting mechanism are all provided with rollers, and the surfaces of the rollers are provided with coaxial annular grooves;
a rope A playing a role in unfolding is fixed at the upper part of the sliding chute A, and the rope A bypasses a roller on the outer side of the lower end of the first telescopic piece and then is fixed on a roller on the inner side of the upper end of the second telescopic piece;
a rope B playing a role in unfolding is fixed at the lower end of the first telescopic piece, and the rope B winds around a roller on the outer side of the lower end of the second telescopic piece and then is fixed on a roller on the inner side of the upper end of the supporting mechanism;
when the rope is unfolded, the motor A drives the first telescopic piece to move downwards through the lead screw, the first telescopic piece pushes the rope A downwards, and the rope A drives the second telescopic piece to move downwards; in the same way, the rope B drives the supporting mechanism to move downwards.
Furthermore, two pulleys are fixed on the lower surface of the cross beam of the first telescopic part, a pulley is fixed in the U-shaped middle of the upper end of the supporting mechanism, and a rope C for contraction is wound among the three pulleys;
one end of a rope C is fixed on the bottom surface of the groove, and the other end of the rope C sequentially rounds a pulley on the first telescopic member beam, a pulley in the U-shaped middle part of the upper end of the supporting mechanism and another pulley on the first telescopic member beam and then is fixed on the supporting mechanism;
when the first telescopic piece retracts, the motor A drives the screw rod to rotate, the screw rod drives the first telescopic piece to retract, and the first telescopic piece drives the supporting mechanism to move upwards through the rope C; when supporting mechanism upward movement, play the effect of an upward pulling to rope B to drive second extensible member rebound, and when retracting, rope A blocks all the time in corresponding the gyro wheel.
Further, the supporting mechanism comprises a vertical supporting plate, an expansion frame and an inclined supporting assembly;
the vertical supporting plate is installed with the chute C in a sliding fit mode, the upper end of the vertical supporting plate is U-shaped, the inner side of the upper end of the vertical supporting plate is provided with a roller, the middle of the U-shaped upper end of the vertical supporting plate is fixed with a pulley, and the other end of the rope C is fixed at the lower portion of the back face of the vertical supporting plate;
a vertical accommodating groove is formed in the middle of the back of the vertical supporting plate, and when the vertical accommodating groove retracts, the screw rod moves in the accommodating groove;
the upper end of the inclined support component is hinged to the upper part of the front surface of the vertical support plate;
the upper end of the unfolding frame is hinged to the upper portion of the back face of the inclined support assembly through a transverse shaft A, the lower end of the unfolding frame is provided with a waist-shaped long hole, and the transverse shaft B penetrates through the waist-shaped long hole to be hinged to the middle of the front face of the vertical support plate.
Furthermore, the inclined support assembly comprises a bottom plate, a parallelogram support and a motor B capable of self-locking;
the upper end of the bottom plate is hinged to the vertical supporting plate, the lower part and the upper part of the bottom plate are respectively provided with a rotating shaft A and a rotating shaft B in a penetrating manner, and the rotating shaft A and the rotating shaft B are installed with the bottom plate in a matching manner through bearings;
the motor B is fixed on the front side of the lower part of the bottom plate, an output shaft of the motor B penetrates through the bottom plate, a driving wheel is sleeved on the end head of the output shaft, a driven wheel is sleeved on the end head of the rotating shaft A on the back side of the bottom plate, and the driving wheel and the driven wheel are in transmission connection through a belt;
the end cap of the rotating shaft A positioned on the front side of the bottom plate is provided with a gear A, and the end cap of the rotating shaft B positioned on the front side of the bottom plate is provided with a gear B;
the end, located on the back of the bottom plate, of the rotating shaft B is sleeved with a driving bevel gear, the transverse shaft A is provided with a driven bevel gear, the driving bevel gear is meshed with the driven bevel gear, the transverse shaft A and the unfolding frame are fixed into a whole, the transverse shaft A is installed in a matched mode with the driven bevel gear through a key groove structure, the driving bevel gear drives the driven bevel gear to rotate when the rotating shaft B rotates, and the driven bevel gear drives the unfolding frame to rotate around the transverse shaft B, so that the bottom plate is;
the parallelogram support comprises two side rods, a connecting rod A, a connecting rod B, a connecting rod C and a connecting rod D which are arranged in parallel from left to right, the two side rods are arranged in parallel to two sides of the bottom plate, the upper ends of the two side rods are respectively hinged with one end of the connecting rod A and one end of the connecting rod B, and the middle parts of the two side rods are respectively hinged with one end of the connecting rod C and one end of the connecting rod D;
the other end of the connecting rod A and the other end of the connecting rod B are fixedly connected with a pin shaft A respectively, the pin shaft B is installed with the bottom plate in a matched mode through a bearing, a gear C is sleeved on the pin shaft B through a key groove structure, and the gear C is meshed with the gear B;
the other end of the connecting rod C and the other end of the connecting rod D are fixedly connected with a pin shaft A respectively, the pin shaft A is installed with the bottom plate in a matched mode through a bearing, a gear D is sleeved on the pin shaft A through a key groove structure, and the gear D is meshed with the gear A;
when the bearing diagonal subassembly expandes, motor B passes through the belt and drives pivot A and rotate, pivot A drives gear A and rotates, gear A drives gear D and rotates, gear D can drive round pin axle A and rotate when rotating, round pin axle A rotates and can drive connecting rod C and connecting rod D and expand, connecting rod C and connecting rod D expand then can drive connecting rod A and connecting rod B and expand, can drive round pin axle B and rotate when connecting rod A and connecting rod B expand, round pin axle B rotates and can drive gear C and rotate, gear C rotates and can drive gear B and rotate, gear B rotates and can drive pivot B and rotate, pivot B drives the drive bevel gear and rotates, the drive bevel gear drives cross axle A through driven bevel gear and rotates, thereby it expandes the frame to drive.
The motor A and the motor B are both electrically connected with a control system in the control box.
The invention has the following advantages:
(1) the scheme is used for wearing the exoskeleton robot, and the structure is arranged, so that a person can wear the exoskeleton robot in the field, and the traditional exoskeleton robot needs to be worn by the person for assistance, so that the scheme is more convenient and more suitable for battle;
(2) the sliding groove, the telescopic mechanism and the extensible supporting mechanism of the control box are arranged, so that the telescopic mechanism and the supporting mechanism can be completely positioned in the sliding groove after being retracted, the space is not occupied, and the exoskeleton robot is borne and carried with the structure;
(3) in the scheme, the rope A and the rope B are adopted for unfolding, the rope C is adopted for folding, namely two sets of mechanisms are adopted for unfolding and folding, the structure is simple, when the rope is damaged, the rope can be automatically replaced and maintained, and the reliability in battle operation is high;
(4) when the exoskeleton robot is prepared, the whole weight is an important index, the lighter the exoskeleton robot is, the better the exoskeleton robot is, but the motor is very heavy, so that the scheme can realize the inclined unfolding of the bottom plate and the unfolding of the parallelogram bracket by designing the motor B, the whole weight is smaller, and the weight of the whole exoskeleton robot is effectively reduced.
Drawings
FIG. 1 is a block diagram of a control box placed on an exoskeleton robot;
FIG. 2 is a block diagram of the present invention;
FIG. 3 is a view showing the construction of the up-down telescopic mechanism;
FIG. 4 is a schematic view of the up-down telescoping mechanism required for deployment;
FIG. 5 is an enlarged view of detail in FIG. 4;
FIG. 6 is a schematic view of the retraction of the upper and lower telescoping mechanisms;
FIG. 7 is an enlarged view of the detail of FIG. 6;
FIG. 8 is a structural view of the support mechanism;
FIG. 9 is a back structural view of the support mechanism except for the vertical support plate;
FIG. 10 is a block diagram at the drive bevel gear and the driven bevel gear;
FIG. 11 is a schematic circuit diagram;
in the figure: 1-control box, 2-first telescopic part, 3-second telescopic part, 4-motor A, 5-roller, 6-rope A, 7-rope B, 8-pulley, 9-rope C, 10-vertical supporting plate, 11-expansion bracket, 12-transverse shaft A, 13-waist-shaped long hole, 14-transverse shaft B, 15-bottom plate, 16-motor B, 17-driving wheel, 18-driven wheel, 19-gear A, 20-gear B, 2101-side rod, 2102-link A, 2103-link B, 2104-link C, 2105-link D, 22-gear C, 23-gear D.
Detailed Description
The invention will be further described with reference to the accompanying drawings, but the scope of the invention is not limited to the following.
As shown in FIG. 1 ~ and FIG. 11, the supporting structure for the exoskeleton robot to put on and take off comprises a control box 1, the control box 1 is placed on a back frame of the exoskeleton robot through a rack, a groove in the vertical direction is formed in the inner side surface of the control box 1, an upper telescopic mechanism and a lower telescopic mechanism are arranged in the groove, a supporting mechanism capable of being unfolded is arranged at the lower end of the upper telescopic mechanism and the lower telescopic mechanism, the upper telescopic mechanism and the lower telescopic mechanism both extend out of the groove when being unfolded and are both retracted in the groove, and a control system is arranged in the control box 1 and controls the actions of the telescopic mechanism and the supporting mechanism.
Furthermore, a supporting head is arranged at the lower end of the supporting mechanism, a pressure sensor is arranged in the supporting head, and when the pressure sensor senses enough pressure, the upper and lower telescopic mechanisms are controlled by the control system to not extend out any more.
In this scheme, the inboard spout A of having opened along upper and lower direction about the recess, spout A has the interval with the tank bottom of recess, and telescopic machanism includes first extensible member 2, second extensible member 3, and first extensible member 2 dress has the interval in spout A between just first extensible member 2's lateral surface and the spout A.
Specifically, the first telescopic member 2 is in a portal frame shape, the upper end of the first telescopic member is a cross beam, and the two sides of the first telescopic member are side plates. The second telescopic member 3 has only two side plates. The inner walls of the two side plates of the first telescopic part 2 are provided with sliding chutes B along the up-down direction, and the inner walls of the two side plates of the second telescopic part 3 are provided with sliding chutes C along the up-down direction. The second telescopic member 3 is adaptively installed in the sliding chute B, and a supporting mechanism is adaptively installed in the sliding chute C. In this embodiment, the upper end of the support mechanism is U-shaped.
In order to realize the downward unfolding action of the upper and lower telescopic mechanisms and the supporting mechanism, the structure design of the scheme is as follows: a self-locking forward and backward motor A4 is fixed on the control box 1, a motor A4 is in threaded fit with a cross beam of the first telescopic part 2 through a lead screw, and a motor A4 drives the first telescopic part 2 to move up and down; the outer side of the lower end of the first telescopic part 2, the inner side of the upper end of the second telescopic part 3, the outer side of the lower end of the second telescopic part 3 and the inner side of the upper end of the supporting mechanism are respectively provided with a roller 5, and the wheel surface of the roller 5 is provided with a coaxial annular groove; one end of the rope A6 is fixed at the upper part of the chute A, and the other end of the rope A6 is fixed on the roller 5 at the inner side of the upper end of the second telescopic part 3 after bypassing the roller 5 at the outer side of the lower end of the first telescopic part 2; third, a rope B7 for unfolding is fixed at the lower end of the first telescopic part 2, and a rope B7 is fixed on the roller 5 at the inner side of the upper end of the supporting mechanism after bypassing the roller 5 at the outer side of the lower end of the second telescopic part 3.
When the unfolding action is carried out, the working process is as follows: the motor A4 drives the first telescopic part 2 to move downwards through the lead screw, the first telescopic part 2 pushes the rope A6 downwards, and the rope A6 drives the second telescopic part 3 to move downwards; similarly, the rope B7 drives the support mechanism to move downward.
In order to realize the moving nozzle that telescopic machanism and supporting mechanism upwards return and contract from top to bottom, the structural design of this scheme is: two pulleys 8 are fixed on the lower surface of the cross beam of the first telescopic part 2, one pulley 8 is fixed in the U-shaped middle part of the upper end of the supporting mechanism, and a rope C9 for contraction is wound among the three pulleys 8; one end of a rope C9 is fixed on the bottom surface of the groove, and the other end of the rope C9 sequentially rounds a pulley 8 on the beam of the first telescopic part 2, a pulley 8 in the middle of the U-shaped part at the upper end of the supporting mechanism and another pulley 8 on the beam of the first telescopic part 2 and then is fixed on the supporting mechanism.
When the retraction action is carried out, the working process is as follows: the motor A4 drives the screw rod to rotate, the screw rod drives the first telescopic part 2 to retract, and the first telescopic part 2 drives the supporting mechanism to move upwards through the rope C9; when the supporting mechanism moves upwards, the rope B7 is pulled upwards, so that the second telescopic part 3 is driven to move upwards, and when the rope A6 is retracted, the rope A6 is always clamped in the corresponding roller.
In the present embodiment, in order to achieve the unfolding support of the support mechanism, and in order to reduce the overall weight, the support mechanism includes a vertical support plate 10, an unfolding stand 11, and a diagonal support assembly. The vertical support plate 10 is installed with the sliding chute C in a sliding and adaptive mode, and the upper end of the inclined support component is hinged to the front face of the vertical support plate 10. The upper end of the unfolding frame 11 is hinged on the upper part of the back of the inclined support component through a transverse shaft A12; the lower end of the unfolding frame 11 is provided with a long waist-shaped hole 13, and a transverse shaft B14 penetrates through the long waist-shaped hole 13, and the transverse shaft B14 is fixedly arranged at the middle part of the front surface of the vertical support plate 10 to realize hinge joint.
In this embodiment, the upper end of the vertical support plate 10 is U-shaped, the inner side of the upper end is provided with a roller, the middle part of the U-shape of the upper end is fixed with a pulley 8, the other end of the rope C9 is fixed at the lower part of the back of the vertical support plate 10, and the support head is fixed at the lower end surface thereof.
And the middle part of the back of the vertical supporting plate 10 is provided with a vertical accommodating groove, and when the vertical supporting plate retracts, the screw rod moves in the accommodating groove.
Specifically, the diagonal bracing assembly includes a base plate 15, a parallelogram support, a self-locking motor B16. The upper end of the bottom plate 15 is hinged on the vertical support plate 10, the front of the lower end of the bottom plate 15 is vertically provided with a motor B16, and the output shaft of the motor B16 penetrates through the bottom plate 15. The lower part and the upper part of the bottom plate 15 are respectively provided with a rotating shaft A and a rotating shaft B in a penetrating way, and the rotating shafts A and the rotating shafts B are both installed with the bottom plate 15 in a matching way through bearings.
At the back of the bottom plate 15, the output end of the motor 16 is sleeved with a driving wheel 17 through a key slot, the end of the rotating shaft A is sleeved with a driven wheel 18 through a key slot structure, and the driving wheel 17 is in transmission connection with the driven wheel 18 through a belt; the end of the rotating shaft B is sleeved with a driving bevel gear through a key groove structure.
At the front of bottom plate 15, the end of pivot A is equipped with gear A through keyway structure cover, and the end of pivot B is equipped with gear B through keyway structure cover.
At the front of the bottom plate 15, there are provided two gears C22, two gears D24, two gears D24 meshing with the gear a19, two gears C meshing with the gear B20. The gear D24 is sleeved on the pin shaft A through a key groove structure, and the pin shaft A and the bottom plate 15 are installed in a matched mode through a bearing; the gear C22 is sleeved on the pin B through a key groove structure, and the pin B and the bottom plate 15 are installed in a matched mode through a bearing.
The parallelogram bracket comprises two side rods 2101, a connecting rod A2101, a connecting rod B2103, a connecting rod C2104 and a connecting rod D2105 which are arranged in parallel at the left and the right. Wherein, two side rods 2101 are arranged in parallel with two sides of the bottom plate 15. The middle parts of the two side rods 2101 are respectively hinged with one end of a connecting rod C2104 and one end of a connecting rod D2105, and the other ends of the two side rods are sleeved on the pin shaft A through a key groove structure. The upper ends of the two side rods 2101 are respectively hinged with one end of a connecting rod A2102 and one end of a connecting rod B2103, and the other ends of the two side rods are sleeved on a pin shaft B through a key groove structure.
When the parallelogram support is unfolded, the action process is as follows: the motor B16 drives the rotating shaft A to rotate through a belt, the rotating shaft A drives the gear A19 to rotate, the gear A19 drives the gear D23 to rotate, the gear D23 drives the pin shaft A to rotate, the pin shaft A rotates to drive the connecting rod C2204 and the connecting rod D2205 to unfold, and the connecting rod C2204 and the connecting rod D2205 to unfold drive the connecting rod A2202 and the connecting rod B2203 to unfold.
In order to allow the bottom plate 15 to be unfolded from the vertical support plate 10, and also to be realized by the motor B16, in the present solution: the end of the rotating shaft B is sleeved with a driving bevel gear through a key groove structure at the back of the bottom plate 15, the upper end of the unfolding frame 11 is fixedly and integrally provided with a transverse shaft A12, a driven bevel gear is sleeved on the transverse shaft A12 through a key groove structure, and two ends of the transverse shaft A12 are hinged to the back of the bottom plate 15. And the lower part of the unfolding frame 11 is provided with a long waist-shaped hole 13, a transverse shaft B14 penetrates through the long waist-shaped hole 13, and both ends of the transverse shaft B14 are hinged at the middle part of the front surface of the vertical supporting plate 10.
When the bottom plate 15 is unfolded from the vertical support plate 10, the action process is as follows: when the connecting rod A2202 and the connecting rod B2203 are unfolded, the pin B is driven to rotate, and the gear C22 is driven to rotate by the rotation of the pin B; the rotation of the gear C22 drives the gear B20 to rotate, the rotation of the gear B20 drives the rotating shaft B to rotate, and the rotating shaft B drives the driving bevel gear to rotate; the driving bevel gear drives the transverse shaft A to rotate through the driven bevel gear, and the transverse shaft A rotates to drive the unfolding frame 11 to rotate around the transverse shaft B, so that the bottom plate 15 is obliquely unfolded.
In this embodiment, the pressure sensor in the support head is electrically connected to the control system, and the control system is further electrically connected to the motor a4 and the motor B16.
Claims (10)
1. Exoskeleton robot wears to take off bearing structure, its characterized in that: comprises a control box (1), wherein the control box (1) is placed on a back frame through a rack;
the control box (1) is provided with an up-down telescopic mechanism;
the lower end of the up-down telescopic mechanism is provided with a support mechanism which can be unfolded.
2. The exoskeletal robot donning and doffing support structure of claim 1, wherein: a groove is vertically formed in the control box (1);
the up-down telescopic mechanism is arranged in the groove and can be vertically telescopic along the groove;
the supporting mechanism is also positioned in the groove after being retracted.
3. The exoskeletal robot donning and doffing support structure of claim 2, wherein: and a control system is arranged in the control box (1) and controls the actions of the telescopic mechanism and the supporting mechanism.
4. The exoskeletal robot donning and doffing support structure of claim 3, wherein: the telescopic mechanism comprises a first telescopic piece (2) and a second telescopic piece (3);
the left inner side and the right inner side of the groove are provided with a sliding groove A along the vertical direction, the sliding groove A and the groove bottom of the groove are provided with a distance, the first telescopic piece (2) is arranged in the sliding groove A, and a distance is formed between the outer side surface of the first telescopic piece (2) and the sliding groove A;
the first telescopic piece (2) is arranged in the groove, and a sliding groove B in the vertical direction is formed in the first telescopic piece;
the second telescopic piece (3) is installed with the groove A in a sliding fit mode, and a sliding groove C in the vertical direction is formed in the second telescopic piece;
the supporting mechanism is installed with the chute C in a sliding and adaptive mode.
5. The exoskeletal robot donning and doffing support structure of claim 4, wherein: the first telescopic part (2) is in a portal frame shape, the upper end of the first telescopic part is a cross beam, the two sides of the first telescopic part are side plates, and the sliding groove B is positioned on the inner side surfaces of the two side plates;
the second telescopic piece (3) is only provided with two side plates, and the chute C is positioned on the inner side surfaces of the two side plates;
the upper end of the supporting mechanism is U-shaped.
6. The exoskeletal robot donning and doffing support structure of claim 5, wherein: a self-locking forward and backward motor A (4) is fixed on the control box (1), the motor A (4) is in threaded fit with a cross beam of the first telescopic piece (2) through a lead screw, and the motor A (4) drives the first telescopic piece (2) to move up and down;
the outer side of the lower end of the first telescopic piece (2), the inner side of the upper end of the second telescopic piece (3), the outer side of the lower end of the second telescopic piece (3) and the inner side of the upper end of the supporting mechanism are all provided with rollers (5), and the wheel surface of each roller (5) is provided with a coaxial annular groove;
a rope A (6) playing a role in unfolding is fixed at the upper part of the sliding chute A, and the rope A (6) is fixed on a roller (5) on the inner side of the upper end of the second telescopic piece (3) after bypassing a roller (5) on the outer side of the lower end of the first telescopic piece (2);
a rope B (7) playing a role of unfolding is fixed at the lower end of the first telescopic piece (2), and the rope B (7) bypasses a roller (5) on the outer side of the lower end of the second telescopic piece (3) and then is fixed on the roller (5) on the inner side of the upper end of the supporting mechanism;
when the telescopic device is unfolded, the motor A (4) drives the first telescopic piece (2) to move downwards through the lead screw, the first telescopic piece (2) pushes the rope A (6) downwards, and the rope A (6) drives the second telescopic piece (3) to move downwards; in the same way, the rope B (7) drives the supporting mechanism to move downwards.
7. The exoskeletal robot donning and doffing support structure of claim 6, wherein: two pulleys (8) are fixed on the lower surface of the cross beam of the first telescopic part (2), one pulley (8) is fixed in the U-shaped middle of the upper end of the supporting mechanism, and a rope C (9) for contraction is wound among the three pulleys (8);
one end of a rope C (9) is fixed on the bottom surface of the groove, and the other end of the rope C (9) sequentially rounds one pulley (8) on the cross beam of the first telescopic part (2), a pulley (8) in the middle of the U-shaped part at the upper end of the supporting mechanism and the other pulley (8) on the cross beam of the first telescopic part (2) and then is fixed on the supporting mechanism;
when the telescopic mechanism retracts, the motor A (4) drives the screw rod to rotate, the screw rod drives the first telescopic piece (2) to retract, and the first telescopic piece (2) drives the supporting mechanism to move upwards through the rope C (9); when the supporting mechanism moves upwards, the rope B (7) is pulled upwards, so that the second telescopic piece (3) is driven to move upwards, and when the rope A (6) retracts, the rope A is always clamped in the corresponding roller.
8. The exoskeletal robot donning and doffing support structure of claim 7, wherein: the supporting mechanism comprises a vertical supporting plate (10), an unfolding frame (11) and an inclined supporting assembly;
the vertical supporting plate (10) is installed with the chute C in a sliding fit mode, the upper end of the vertical supporting plate (10) is U-shaped, rollers are arranged on the inner side of the upper end of the vertical supporting plate, a pulley (8) is fixed in the middle of the U-shaped upper end of the vertical supporting plate, and the other end of the rope C (9) is fixed to the lower portion of the back face of the vertical supporting plate (10);
a vertical accommodating groove is formed in the middle of the back of the vertical supporting plate (10), and when the vertical accommodating groove retracts, a screw rod moves in the accommodating groove;
the upper end of the inclined support component is hinged to the upper part of the front surface of the vertical support plate (10);
the upper end of the unfolding frame (11) is hinged to the upper part of the back of the inclined support assembly (10) through a transverse shaft A (12), the lower end of the unfolding frame (11) is provided with a waist-shaped long hole (13), and the transverse shaft B (14) penetrates through the waist-shaped long hole (13) to be hinged to the middle of the front of the vertical support plate (10).
9. The exoskeletal robot donning and doffing support structure of claim 8, wherein: the inclined support assembly comprises a bottom plate (15), a parallelogram support and a motor B (16) capable of self-locking;
the upper end of the bottom plate (15) is hinged to the vertical supporting plate (10), the lower part and the upper part of the bottom plate (15) are respectively provided with a rotating shaft A and a rotating shaft B in a penetrating manner, and the rotating shaft A and the rotating shaft B are installed with the bottom plate (15) in a matching manner through bearings;
the motor B (16) is fixed on the front side of the lower part of the bottom plate (15), an output shaft of the motor B penetrates through the bottom plate, a driving wheel (17) is sleeved on the end head of the output shaft, a driven wheel (18) is sleeved on the end head of the rotating shaft A on the back side of the bottom plate (15), and the driving wheel (17) is in transmission connection with the driven wheel (18) through a belt;
a gear A (19) is sleeved at the end of the rotating shaft A positioned on the front surface of the bottom plate (15), and a gear B (20) is sleeved at the end of the rotating shaft B positioned on the front surface of the bottom plate (15);
the end, located at the back of the bottom plate (15), of the rotating shaft B is sleeved with a driving bevel gear, a driven bevel gear is arranged on the transverse shaft A (12), the driving bevel gear is meshed with the driven bevel gear, the transverse shaft A (12) and the unfolding frame (11) are fixed into a whole, the transverse shaft A (12) is installed in a matched mode with the driven bevel gear through a key groove structure, the driving bevel gear drives the driven bevel gear to rotate when the rotating shaft B rotates, and the driven bevel gear drives the unfolding frame (11) to rotate around the transverse shaft B (14), so that the bottom plate (15) is obliquely jacked;
the parallelogram support comprises two side rods (2101), a connecting rod A (2101), a connecting rod B (2103), a connecting rod C (2104) and a connecting rod D (2105) which are arranged in parallel at the left and right, wherein the two side rods (2101) are arranged in parallel at two sides of a bottom plate (15), the upper ends of the two side rods (2101) are respectively hinged with one end of the connecting rod A (2102) and one end of the connecting rod B (2103), and the middle parts of the two side rods (2101) are respectively hinged with one end of the connecting rod C (2104) and one end of the connecting rod D (2105);
the other end of the connecting rod A (2102) and the other end of the connecting rod B (2103) are fixedly connected with a pin B respectively, the pin B is installed with the bottom plate (15) in a matched mode through a bearing, a gear C (22) is sleeved on the pin B through a key groove structure, and the gear C (22) is meshed with the gear B (20);
the other end of the connecting rod C (2204) and the other end of the connecting rod D (2205) are fixedly connected with a pin shaft A respectively, the pin shaft A is installed in a matched mode with the bottom plate (15) through a bearing, a gear D (23) is sleeved on the pin shaft A through a key groove structure, and the gear D (23) is meshed with the gear A (19);
when the inclined support assembly is unfolded, the motor B (16) drives the rotating shaft A to rotate through a belt, the rotating shaft A drives the gear A (19) to rotate, the gear A (19) drives the gear D (23) to rotate, the gear D (23) can drive the pin shaft A to rotate when rotating, the pin shaft A can drive the connecting rod C (2204) and the connecting rod D (2205) to unfold, the connecting rod C (2204) and the connecting rod D (2205) can drive the connecting rod A (2202) and the connecting rod B (2203) to unfold, the connecting rod A (2202) and the connecting rod B (2203) can drive the pin shaft B to rotate when unfolding, the pin shaft B can drive the gear C (22) to rotate, the gear C (22) can drive the gear B (20) to rotate, the gear B (20) can drive the rotating shaft B to rotate, the rotating shaft B drives the driving bevel gear to rotate, the driving bevel gear drives the transverse shaft A to rotate through the driven bevel gear, and therefore the unfolding.
10. The exoskeletal robot donning and doffing support structure of claim 9, wherein: and the motor A (4) and the motor B (16) are electrically connected with a control system in the control box (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910797531.0A CN110712190B (en) | 2019-08-27 | 2019-08-27 | Exoskeleton robot putting on and taking off supporting structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910797531.0A CN110712190B (en) | 2019-08-27 | 2019-08-27 | Exoskeleton robot putting on and taking off supporting structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110712190A true CN110712190A (en) | 2020-01-21 |
| CN110712190B CN110712190B (en) | 2024-08-06 |
Family
ID=69209523
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910797531.0A Active CN110712190B (en) | 2019-08-27 | 2019-08-27 | Exoskeleton robot putting on and taking off supporting structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110712190B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111939006A (en) * | 2020-09-17 | 2020-11-17 | 重庆檀科科技有限公司 | Walking assistance method for nursing department |
| CN113440378A (en) * | 2021-07-19 | 2021-09-28 | 广西科技大学 | Leg adjusting device of self-locking exoskeleton robot and using method |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103474770A (en) * | 2013-10-10 | 2013-12-25 | 成都锦江电子系统工程有限公司 | Novel oil bath rotary table |
| CN103610568A (en) * | 2013-12-16 | 2014-03-05 | 哈尔滨工业大学 | Human-simulated external skeleton robot assisting lower limbs |
| CN103845184A (en) * | 2014-01-26 | 2014-06-11 | 清华大学 | Rope-driven exoskeleton type upper-limb rehabilitation robot system |
| CN104825311A (en) * | 2015-05-04 | 2015-08-12 | 台州学院 | Special lower limb exoskeleton for hemiplegic patient, using method thereof and stability validation method |
| CN106112990A (en) * | 2016-08-18 | 2016-11-16 | 黄河科技学院 | The lower limb exercise of decompression power-assisted machinery ESD supports exoskeleton mechanism |
| WO2017121971A1 (en) * | 2016-01-15 | 2017-07-20 | Robotiques 3 Dimensions | Exoskeleton with telescopic legs at the rear |
| CN109048872A (en) * | 2018-10-29 | 2018-12-21 | 河北工业大学 | A kind of wearable lower limb auxiliary is stood up ectoskeleton |
| CN109674626A (en) * | 2019-02-18 | 2019-04-26 | 清华大学 | Hip joint can outreach adduction dynamical type lower limb exoskeleton |
| CN211639899U (en) * | 2019-08-27 | 2020-10-09 | 成都锦江电子系统工程有限公司 | Supporting structure for putting on and taking off exoskeleton robot |
-
2019
- 2019-08-27 CN CN201910797531.0A patent/CN110712190B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103474770A (en) * | 2013-10-10 | 2013-12-25 | 成都锦江电子系统工程有限公司 | Novel oil bath rotary table |
| CN103610568A (en) * | 2013-12-16 | 2014-03-05 | 哈尔滨工业大学 | Human-simulated external skeleton robot assisting lower limbs |
| CN103845184A (en) * | 2014-01-26 | 2014-06-11 | 清华大学 | Rope-driven exoskeleton type upper-limb rehabilitation robot system |
| CN104825311A (en) * | 2015-05-04 | 2015-08-12 | 台州学院 | Special lower limb exoskeleton for hemiplegic patient, using method thereof and stability validation method |
| WO2017121971A1 (en) * | 2016-01-15 | 2017-07-20 | Robotiques 3 Dimensions | Exoskeleton with telescopic legs at the rear |
| CN106112990A (en) * | 2016-08-18 | 2016-11-16 | 黄河科技学院 | The lower limb exercise of decompression power-assisted machinery ESD supports exoskeleton mechanism |
| CN109048872A (en) * | 2018-10-29 | 2018-12-21 | 河北工业大学 | A kind of wearable lower limb auxiliary is stood up ectoskeleton |
| CN109674626A (en) * | 2019-02-18 | 2019-04-26 | 清华大学 | Hip joint can outreach adduction dynamical type lower limb exoskeleton |
| CN211639899U (en) * | 2019-08-27 | 2020-10-09 | 成都锦江电子系统工程有限公司 | Supporting structure for putting on and taking off exoskeleton robot |
Non-Patent Citations (1)
| Title |
|---|
| 张峻霞;关丛;张遵浩;奥云;: "髋关节助力外骨骼的结构设计", 包装工程, no. 16, 20 August 2018 (2018-08-20) * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111939006A (en) * | 2020-09-17 | 2020-11-17 | 重庆檀科科技有限公司 | Walking assistance method for nursing department |
| CN113440378A (en) * | 2021-07-19 | 2021-09-28 | 广西科技大学 | Leg adjusting device of self-locking exoskeleton robot and using method |
| CN113440378B (en) * | 2021-07-19 | 2022-07-01 | 广西科技大学 | Leg adjusting device of self-locking exoskeleton robot and using method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110712190B (en) | 2024-08-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110712190A (en) | Supporting structure for putting on and taking off exoskeleton robot | |
| CN110155362B (en) | Lifting platform for overhauling vertical fin of airplane | |
| CN108796780B (en) | Can accomodate weaving machine convenient to remove | |
| CN211639899U (en) | Supporting structure for putting on and taking off exoskeleton robot | |
| CN106426279A (en) | Telescopic mechanical arm | |
| CN207415369U (en) | A kind of truss-like autonomous meal delivery robot | |
| CN113685321B (en) | Offshore wind turbine tower transportation equipment | |
| CN112944148B (en) | Safety warning device for building engineering management | |
| CN207802965U (en) | A kind of greenhouse shading net draw off gear | |
| CN104264647B (en) | Self-elevating drilling platform cantilever beam sliding device | |
| CN113605240A (en) | Assembled bridge construction is with scaffold that has protective structure | |
| CN213265536U (en) | Transport truck | |
| CN211494306U (en) | Running gear of robot | |
| CN214005446U (en) | Bridge construction hangs construction platform with having fixed mechanism groove | |
| CN113954989B (en) | Manned operation equipment for repairing civil aircraft | |
| CN114228589B (en) | Vehicle-mounted electric wheelchair loading device | |
| CN211806167U (en) | Storage robot | |
| CN209830883U (en) | Surfboard sailboard carving machine with adjustable height | |
| CN210027976U (en) | Lifting platform for aircraft vertical tail maintenance | |
| CN209682016U (en) | A kind of telescoping mechanism of Mobile tool | |
| CN219032494U (en) | Supporting frame for textile machine | |
| CN221420621U (en) | Novel power plant overhauls uses mount | |
| CN215322700U (en) | Conveyer is used in robot processing with safeguard function | |
| CN217025116U (en) | Cement product prefab turning device | |
| CN215622307U (en) | Climbing mechanism and scalable shelter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |