CN111390874A

CN111390874A - Exoskeleton structure

Info

Publication number: CN111390874A
Application number: CN202010236183.2A
Authority: CN
Inventors: 程二亭; 韩久琦; 蔡洁玉
Original assignee: Beijing Haiyi Tongzhan Information Technology Co Ltd
Current assignee: Beijing Haiyi Tongzhan Information Technology Co Ltd
Priority date: 2020-03-30
Filing date: 2020-03-30
Publication date: 2020-07-10

Abstract

The embodiment of the application discloses exoskeleton structure, exoskeleton structure includes: the guide structure comprises a guide part and a guide table, the drive structure comprises an output shaft and a drive main body for driving the output shaft to do telescopic motion, and the guide part is arranged on the output shaft of the drive structure and is positioned at one end far away from the drive main body; the guide component can move along a guide groove of the guide table; the extending direction of the guide groove of the guide table is the same as the direction of the output shaft. So, the guide part can be followed the guide way removal of direction platform, and the guide part setting is in the one end of play axle, therefore, at the in-process that the telescopic motion was made to the play axle, the guide part removed along the guide way to can lead to the play axle, be favorable to solving the play axle that axial one side slope brought and drive the sealed problem that will be destroyed between the main part, can improve drive structure's life.

Description

Exoskeleton structure

Technical Field

The present application relates to exoskeleton technology, and more particularly, to an exoskeleton structure.

Background

In the related art, the inventors found that: the mechanical leg exoskeleton with the cylinder as a power source is limited only by the inside of the cylinder in the motion process to ensure the coaxiality of the output shaft, wherein the coaxiality represents the condition that a measured axis on a part is kept on the same straight line relative to a reference axis; however, the cylinder output shaft is easy to incline to one side under the action of lateral force, which may cause the seal between the cylinder output shaft and the cylinder body to be damaged, the cylinder to fail and the service life of the cylinder to be reduced.

Disclosure of Invention

Embodiments of the present application contemplate providing an exoskeleton structure.

The exoskeleton structure provided by the embodiment of the application comprises: the guide structure comprises a guide part and a guide table, the drive structure comprises an output shaft and a drive main body for driving the output shaft to do telescopic motion, and the guide part is arranged on the output shaft of the drive structure and is positioned at one end far away from the drive main body; the guide component can move along a guide groove of the guide table; the extending direction of the guide groove of the guide table is the same as the direction of the output shaft.

Optionally, the exoskeleton structure further comprises a support part and a first connecting part, wherein the support part is fixedly arranged at one end of the output shaft far away from the driving body; the guide member is connected to the support member by a first connecting portion.

Optionally, the first connecting portion includes a through shaft fixed to the support member, and a direction of the through shaft is different from a direction of the out shaft; the guide component is fixed on the through shaft.

Optionally, at least one limiting component of the penetrating shaft is arranged at the joint of the penetrating shaft and the supporting component.

Optionally, at least one limiting component of the guide component is arranged at the joint of the guide component and the through shaft.

Optionally, the support member includes a second connecting portion and a third connecting portion, the second connecting portion is fixedly connected to the output shaft, and the third connecting portion is connected to the guide member through the first connecting portion.

Optionally, the exoskeleton structure further comprises a lower main board, an upper main board, and a driving assembly disposed between the lower main board and the upper main board, and the supporting member further comprises a fourth connecting portion, and the fourth connecting portion is rotatably connected to the driving assembly.

Optionally, the second connecting portion forms a bolt connection with the output shaft.

Optionally, the guide member is a guide wheel, a part of the guide wheel is embedded in a guide groove of the guide table, and the guide wheel can move along the guide groove of the guide table when rotating.

Optionally, the drive structure is a cylinder.

In an embodiment of the present application, the exoskeleton structure comprises: the guide structure comprises a guide part and a guide table, the drive structure comprises an output shaft and a drive main body for driving the output shaft to do telescopic motion, and the guide part is arranged on the output shaft of the drive structure and is positioned at one end far away from the drive main body; the guide component can move along a guide groove of the guide table; the extending direction of the guide groove of the guide table is the same as the direction of the output shaft. So, the guide part can be followed the guide way removal of direction platform, and the guide part setting is in the one end of play axle, therefore, at the in-process that the telescopic motion was made to the play axle, the guide part removed along the guide way to can lead to the play axle, be favorable to solving the play axle that axial one side slope brought and drive the sealed problem that will be destroyed between the main part, can improve drive structure's life.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application.

FIG. 1 is a front view of a portion of an exoskeleton structure in an embodiment of the present application;

FIG. 2 is an isometric view of a portion of an exoskeleton structure according to an embodiment of the present application;

FIG. 3 is another isometric view of a portion of an exoskeleton structure according to an embodiment of the present application;

FIG. 4 is a schematic view of a guide table in an embodiment of the present application;

FIG. 5 is a schematic diagram of the structure of the cylinder in the embodiment of the present application;

FIG. 6 is a front view of an exoskeleton structure according to an embodiment of the application;

FIG. 7 is a rear view of an exoskeleton structure according to an embodiment of the application;

fig. 8 is a side view of an exoskeleton structure according to an embodiment of the application.

In the drawings, the various drawing designations represent the following list of parts:

1. guide part, 2, guide table, 3, lower main board, 4, cylinder, 5, output shaft, 6, cylinder body, 7, support part, 8, first screw, 9, through shaft, 10, second screw, 11, first jump ring, 12, second jump ring, 13, third jump ring, 14, bearing, 15, upper main board, 16, upper main board pivot, 17, upper main board pivot left jump ring, 18, drive assembly screw, 19, left connecting plate, 20, drive assembly, 21, lower main board pivot left jump ring, 22, lower main board pivot, 23, drive assembly pivot left jump ring, 24, drive assembly pivot, 25, upper main board pivot right jump ring, 26, right connecting plate, 27, lower main board pivot right jump ring, 28, drive assembly pivot right jump ring, 29, connecting plate fixing screw.

Detailed Description

The present application will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the examples provided herein are merely illustrative of the present application and are not intended to limit the present application. In addition, the following examples are provided as partial examples for implementing the present application, not all examples for implementing the present application, and the technical solutions described in the examples of the present application may be implemented in any combination without conflict.

It should be noted that in the embodiments of the present application, the terms "comprises", "comprising" or any other variation thereof are intended to cover a non-exclusive inclusion, so that a method or apparatus including a series of elements includes not only the explicitly recited elements but also other elements not explicitly listed or inherent to the method or apparatus. Without further limitation, the use of the phrase "including a. -. said." does not exclude the presence of other elements (e.g., steps in a method or elements in a device, such as portions of circuitry, processors, programs, software, etc.) in the method or device in which the element is included.

The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.

In the related art, the exoskeleton is powered in a pneumatic mode, the motion of the cylinder output shaft of the exoskeleton is limited only by the inside of the cylinder, the limitation of the whole motion process of the cylinder output shaft is not carried out, the cylinder output shaft can always be acted by a lateral force in the action process of the exoskeleton, and in the past, the sealing between the cylinder output shaft and a cylinder body can be damaged, the cylinder can fail and the service life of the cylinder is shortened.

In view of the above technical problems, an embodiment of the present application provides an exoskeleton structure, which may include a guiding structure and a driving structure, where the guiding structure and the driving structure may be located on a lower main board of the exoskeleton structure. Illustratively, the drive structure may be a cylinder.

FIG. 1 is a front view of a portion of an exoskeleton structure in an embodiment of the present application; FIG. 2 is an isometric view of a portion of an exoskeleton structure according to an embodiment of the present application; FIG. 3 is another isometric view of a portion of an exoskeleton structure according to an embodiment of the present application; FIG. 4 is a schematic view of a guide table in an embodiment of the present application; as shown in fig. 1 to 4, the guide structure includes a guide member 1 and a guide table 2, the guide table 2 is provided with a guide groove, and the guide member 1 can move along the guide groove of the guide table 2; here, the guide table 2 may be located on the lower main plate 3.

The driving structure comprises an output shaft 5 and a driving main body for driving the output shaft 5 to do telescopic motion; illustratively, when the driving structure may be a cylinder, the driving body is a cylinder body; the outer skeleton structure will be described below by taking the driving structure as an example of a cylinder.

Fig. 5 is a schematic structural diagram of the cylinder in the embodiment of the present application, and referring to fig. 5, the cylinder 4 includes two parts, namely an output shaft 5 and a cylinder body 6, and the output shaft 5 can perform telescopic motion; with reference to fig. 1 to 5, the guide member 1 is disposed on the output shaft 5 of the cylinder 4 and at an end of the cylinder body 6 remote from the cylinder 4; the extending direction of the guide groove of the guide table 2 is the same as the direction of the output shaft 5

It can be seen that, in the embodiment of the present application, guide part 1 can move along the guide way of guide table 2, and guide part 1 sets up the one end at play axle 5, therefore, make the in-process of concertina movement at play axle 5, guide part 1 moves along the guide way to can lead to the play axle, be favorable to solving the play axle 5 and to the problem that the sealed between play axle and the drive main part that the lopsidedness brought will be destroyed, can improve drive structure's life.

In one embodiment, referring to fig. 1-3, the exoskeleton guidance structure further comprises: the support component 7 is fixedly arranged at one end of the output shaft 5 far away from the cylinder body 6; the guide member 1 is connected to the support member 7 by the first connecting portion. The supporting component can be a supporting plate for supporting the guiding component, and in the embodiment of the application, the guiding component is convenient to mount through the arrangement of the supporting component.

In a specific example, the supporting member 7 may include a second connecting portion, and the second connecting portion is fixedly connected to the output shaft 5; here, the connection manner of the second connection portion and the output shaft 5 may be a bolt connection or other fixed connection manner, and referring to fig. 2 and 3, the second connection portion of the support member 7 and the output shaft 5 may be fixed by the first screw 8.

In one embodiment, the supporting member 7 may include a third connecting portion, and the third connecting portion may be connected to the guide member 1 by the first connecting portion. In a specific example, referring to fig. 3, the first connection portion may include a through shaft 9, and the through shaft 9 may be connected to the third connection portion of the support member 7, so that the through shaft 9 is fixed to the support member 7, and the direction of the through shaft 9 is different from the direction of the output shaft 5; the guide element 1 can be fixed to the through-shaft 9. Alternatively, the direction of the through shaft 9 may be perpendicular to the direction of the output shaft 5, and the through shaft is arranged to facilitate the fixation of the guide component and the support component.

In one embodiment, referring to fig. 3, the guide member 1 may be a guide wheel, a portion of which is fitted into a guide groove of the guide table 2, and which is movable along the guide groove of the guide table 2 when rotated. In a particular example, the through shaft 9 passes through the center of the guide wheel; the guide wheel can be connected with the through shaft 9 through a bearing.

In one embodiment, at least one limiting component of the through shaft 9 is arranged at the joint of the through shaft 9 and the supporting component 7, and the at least one limiting component of the through shaft 9 is used for limiting the through shaft 9; when the through shaft 9 and the supporting component 7 have two connecting positions, the two connecting positions of the through shaft 9 and the supporting component 7 can be provided with a limiting component, or one connecting position of the through shaft 9 and the supporting component 7 can be provided with a limiting component; alternatively, at least one of the limiting parts of the through shaft 9 may be a circlip.

In one embodiment, the connection between the guide element 1 and the through-shaft 9 is provided with at least one stop element of the guide element 1. The guide component 1 can be contacted with at least one limiting component of the guide component 1, so that the movement of the guide component along the shaft penetrating direction is limited; alternatively, the at least one limiting part of the guide part 1 may be a circlip.

In a specific example, referring to fig. 1 to 5, the cylinder body 6 of the cylinder 4 and the lower main plate 3 may be fastened by at least one second screw 10, and the output shaft 5 and the support member 7 may be fastened by a first screw 8; the at least one limiting part of the through shaft 9 can comprise a first clamp spring 11 arranged at one end of the through shaft 9 and a second clamp spring 12 arranged at the other end of the through shaft 9, wherein the first clamp spring 11 is a left clamp spring, and the second clamp spring 12 is a right clamp spring; at least one limiting part of the guide part 1 is a third clamp spring 13; the penetrating shaft 9 is in contact with a first snap spring 11, the guide part 1 is in contact with a third snap spring 10, the penetrating shaft 9 is in contact with a second snap spring 12, and the penetrating shaft 9 sequentially penetrates through the guide part 1, the support part 7, a third snap spring 13 and a bearing 14; the first clamp spring 11 and the second clamp spring 12 are located at two ends of the penetrating shaft 9, and therefore the penetrating shaft 9 is limited in the left-right mode when the air cylinder works.

In practical applications, the guiding process of the output shaft 5 may include: the supporting part 7 is pressed down, and the linkage guide part 1 smoothly rolls downwards under the action of the guide table 2, so that the guide process is completed; it can be seen that shank ectoskeleton guide structure of this application embodiment can set up on the exoskeletal structure, at this moment, on cylinder self possesses the basis of direction function, the exoskeletal guide structure of this application embodiment can also lead to the play axle of cylinder, specifically, in the in-process that cylinder goes out axle concertina movement, can lead to the cylinder play axle all the time, thereby, be favorable to solving the sealed problem that will be destroyed between play axle and the cylinder body that cylinder play axial lopsidedness brought, can improve the life of cylinder.

Fig. 6 is a front view of the exoskeleton structure, fig. 7 is a rear view of the exoskeleton structure, and fig. 8 is a side view of the exoskeleton structure, as shown in fig. 6 to 8, in one embodiment, the exoskeleton structure further comprises a lower main plate 3, an upper main plate 15, a driving assembly 20 disposed between the lower main plate 3 and the upper main plate 15, and the supporting member 7 further comprises a fourth connecting portion, and the fourth connecting portion is rotatably connected with the driving assembly 20; for example, the fourth connecting portion and the driving assembly 20 may be connected by a rotating shaft.

The lower motherboard 3 and the upper motherboard 15 may form an articulated connection, in one embodiment the lower motherboard 3 and the upper motherboard 15 form a mating connection.

In a specific example, as shown in fig. 6 to 8, the exoskeleton structure may further include: the upper main board rotating shaft 16, the upper main board rotating shaft left clamp spring 17, the driving assembly screw 18, the left connecting plate 19, the lower main board rotating shaft left clamp spring 21, the lower main board rotating shaft 22, the driving assembly rotating shaft left clamp spring 23, the driving assembly rotating shaft 24, the upper main board rotating shaft right clamp spring 25, the right connecting plate 26, the lower main board rotating shaft right clamp spring 27, the driving assembly rotating shaft right clamp spring 28 and the connecting plate fixing screw 29.

Go up mainboard 15, left connecting plate 19, right connecting plate 26 and rotate through last mainboard pivot 16 and connect to spacing about going on through last mainboard pivot left jump ring 17 and last mainboard pivot right jump ring 25. Lower mainboard 3, left connecting plate 19, right connecting plate 26 rotate through lower mainboard pivot 22 and connect to spacing about going on through lower mainboard pivot left jump ring 21 and lower mainboard pivot right jump ring 27. The upper main plate 15 is in contact with the lower main plate 3. The supporting part 7 is rotatably connected with the driving assembly 20 through a driving assembly rotating shaft 24, and is limited left and right through a driving assembly rotating shaft left clamp spring 23 and a driving assembly rotating shaft right clamp spring 28. The support member 7 is fixedly connected to the cylinder by a connecting plate fixing screw 29. The left connecting plate 15 is fixedly connected with a driving assembly 20 through a driving assembly screw 18.

In practical application, the energy storage process of the exoskeleton structure is as follows: the upper main plate 15 is linked with the left connecting plate 19, the right connecting plate 26, the driving assembly 20 and the linkage supporting component 7 to push the cylinder to output a shaft for compression, and the energy storage process is completed. Specifically, the upper main plate 15 rotates counterclockwise around the upper main plate rotating shaft 16, and through the engagement between the upper main plate 15 and the lower main plate 3, the left connecting plate 19 and the right connecting plate 26 are linked to rotate around the lower main plate rotating shaft 22, and the output shaft 5 of the compression cylinder moves downward while the driving assembly 20 fixed on the surface of the left connecting plate 19 rotates around the driving assembly rotating shaft 24, so that the energy storage process is completed.

The energy release process of the exoskeleton structure comprises the following steps: the output shaft 5 of the cylinder extends out quickly under the action of energy storage, and is linked with the supporting part 7, the driving assembly 20, the left connecting plate 19 and the right connecting plate 26 in sequence, and finally the upper main plate 15 is pushed to rotate.

The foregoing description of the various embodiments is intended to highlight various differences between the embodiments, and the same or similar parts may be referred to each other, which are not repeated herein for brevity

Features disclosed in various product embodiments provided by the application can be combined arbitrarily to obtain new product embodiments without conflict.

While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. An exoskeleton structure, comprising: the guide mechanism comprises a guide structure and a driving structure, wherein the guide structure comprises a guide part (1) and a guide table (2), the driving structure comprises an output shaft (5) and a driving main body for driving the output shaft (5) to do telescopic motion, and the guide part is arranged on the output shaft (5) of the driving structure and is positioned at one end far away from the driving main body; the guide component (1) can move along a guide groove of the guide table (2); the extending direction of the guide groove of the guide table (2) is the same as the direction of the output shaft (5).

2. An exoskeleton structure as claimed in claim 1 further comprising a support member (7) and a first coupling portion, the support member (7) being fixedly disposed on the output shaft (5) at an end remote from the drive body; the guide member (1) is connected to the support member (7) by a first connecting portion.

3. An exoskeleton guiding structure as claimed in claim 2 wherein the first connection comprises a through shaft (9), the through shaft (9) being fixed to the support member (7), the direction of the through shaft (9) being different from the direction of the output shaft (5); the guide component (1) is fixed on the through shaft (9).

4. An exoskeleton guiding structure as claimed in claim 3 wherein the junction of the through shaft (9) and the support member (7) is provided with at least one limiting member of the through shaft (9).

5. An exoskeleton guiding structure as claimed in claim 3 wherein the connection of the guiding member (1) to the through shaft (9) is provided with at least one limiting member of the guiding member (1).

6. An exoskeleton structure as claimed in claim 2, characterised in that the support member (7) comprises a second connection portion fixedly connected to the output shaft (5) and a third connection portion connected to the guide member (1) via the first connection portion.

7. An exoskeleton structure as claimed in claim 6 wherein the exoskeleton structure further comprises a lower main plate (3), an upper main plate (15), a drive assembly (20) disposed between the lower main plate (3) and the upper main plate (15), the support member (7) further comprising a fourth connection portion which forms a rotational connection with the drive assembly (20).

8. An exoskeleton structure as claimed in claim 6, characterised in that the second connection forms a bolted connection with the output shaft (5).

9. An exoskeleton structure as claimed in claim 1, characterised in that the said guiding members (1) are guiding wheels, a part of which are embedded in guiding grooves of the said guiding table (2), which when turned can move along the guiding grooves of the said guiding table (2).

10. An exoskeleton structure as claimed in claim 1 wherein the drive structure is a pneumatic cylinder.