CN112828861B - Three-level elastic connection suspension device - Google Patents
Three-level elastic connection suspension device Download PDFInfo
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- CN112828861B CN112828861B CN202011608531.0A CN202011608531A CN112828861B CN 112828861 B CN112828861 B CN 112828861B CN 202011608531 A CN202011608531 A CN 202011608531A CN 112828861 B CN112828861 B CN 112828861B
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- rubber spring
- suspension device
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- rocker arm
- external load
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Abstract
The invention belongs to the field of mechanical structure design, and particularly relates to a three-stage elastic connection suspension device which comprises a first-stage suspension device, a second-stage suspension device and a third-stage suspension device; wherein, the first stage suspension device, the second stage suspension device and the third stage suspension device are connected in a dismountable order. According to the invention, through the structural connection mode that the three-stage suspension device is arranged between the left hip structure and the right hip structure of the power-assisted exoskeleton and the protective suit, the motions of the protective suit relative to the exoskeleton, such as rotational freedom, vertical displacement freedom, rotational freedom in a horizontal plane, lateral rolling freedom in a frontal plane, transverse displacement freedom and the like, can be realized.
Description
Technical Field
The invention belongs to the field of mechanical structure design, particularly relates to a three-level elastic connection suspension device, and particularly relates to a three-level elastic connection suspension device which is assembled on a power-assisted exoskeleton, is used for connecting a trunk protective suit with a left hip structure and a right hip structure of the exoskeleton.
Background
With the urgent needs of rapid development of scientific technology and strategic combat readiness in the nuclear industry field in China, numerous new technologies and new equipment have been applied in the nuclear industry field, wherein radiation protection for personnel working under a strong radiation environment working condition is the key technology and the focus for ensuring the continuous and reliable development of the nuclear industry field. Protective clothing for shielding neutrons, gamma rays and X rays, which is manufactured corresponding to different rays, has already been put into practical engineering application in this field.
However, the weight of protective garments is increasing due to the rigid nature of radiation shielding materials and the material requirements for shielding various rays, and may even reach over 50 kg. The human body has difficulty in staying in work for a long time under the weight load and making various complicated and precise production motions. In recent years, a research focus in the field of robots is an assistance-type exoskeleton, which is characterized in that a human body is provided with an exoskeleton system structure matched with the human body through a simulation human muscle, skeleton and joint system, so that a load is transmitted to a shoe body through the exoskeleton to reach the ground, the load bearing capacity of the human body during motion is improved, the continuous capacity of the human body during load bearing motion is enhanced, the load bearing capacity and the ground are integrated into a complete human-machine coupling system, and the exoskeleton mechanical structure is enabled to have the following characteristics: heavy load, high bearing efficiency, high energy efficiency ratio, high satisfaction degree, man-machine motion coordination and other functional requirements.
Therefore, the necessary integrated application of the protective clothing and the exoskeleton can solve the technical problem that the weight of the protective clothing and the load bearing work and the movement capacity of a human body are limited in the field of nuclear industry.
For the power-assisted exoskeleton system, the main function is to bear vertical load instead of human body, so the exoskeleton and the human body must be connected together through a connecting device. When a person walks in a portable manner, in the periodic motion of a supporting phase and a swinging phase of the walking of the human body, a barycentric curve of the person appears as sine or cosine motion characteristics which rise and fall up and down, and in the stage of a rising edge or a falling edge, the weight of the protective clothing can cause dynamic load due to the existence of acceleration and repeatedly acts on the exoskeleton along with the barycentric motion curve of the person, namely the weight of the protective clothing can continuously generate impact dynamic load on the exoskeleton.
Meanwhile, the dynamic load generates periodic vibration impact on the exoskeleton structure and the power system, and the impact may generate discomfort to the human body due to the close combination of the human body and the exoskeleton, so that the human body is difficult to effectively control the human mind. And with the increase of the walking speed, the acceleration of the step frequency and the increase of the stride, the frequency of the action period of the dynamic load is increased, the amplitude is increased, and the coordination of the man-machine movement is possibly seriously influenced.
At present, the combination of protective clothing and an exoskeleton in the nuclear industry is in research, trial production and test stages, no mature technical reference is provided, but on the basis of the design and strength and rigidity analysis of an exoskeleton lower limb bearing mechanism, a suspension structure between the protective clothing and the left and right hip of the exoskeleton is developed, which is beneficial to realizing the bearing of a human body under upright and static conditions, and the bearing of a motion posture such as walking and the like and the coordinated movement between human and machine.
The invention provides a three-stage elastic connection suspension device assembled on an upper trunk protective clothing of a power-assisted exoskeleton and connected with a left hip structure and a right hip structure of the exoskeleton, wherein a horizontal balance arm and a single-box damper are arranged between a protective clothing back plate and the left hip structure and the right hip structure of the exoskeleton and are used as first-stage connection devices, the horizontal balance arm and the right hip structure share a central hinge shaft, a rocker arm assembly is arranged on horizontal balance arm paper and is used as a second-stage connection device, and a third pole connection device is realized through a suspender, an L-shaped connecting rod and a quadrilateral mechanism of the rocker arm. Through the stretching effect of the three-level connecting device, the rubber spring and the damper, the stability of the protective clothing on the exoskeleton structure can be enhanced, the impact load of the weight of the protective clothing on the exoskeleton during man-machine movement is effectively reduced, the discomfort possibly generated on a human body is reduced, the decoupling of the left side and the right side of the exoskeleton is realized, and the coordination of the man-machine movement is effectively improved.
Disclosure of Invention
The invention aims to provide a three-level elastic connection suspension device which is applied to an upper trunk protective clothing assembled on a power-assisted exoskeleton and a three-level elastic connection suspension device connected with a left hip structure and a right hip structure of the exoskeleton, and aims to realize micro multi-degree-of-freedom movement between the protective clothing and the exoskeleton and enhance the installation stability of the protective clothing through a three-level connection device with elastic and damping dynamic characteristics between the protective clothing and the left hip structure and the right hip structure of the exoskeleton under the action of the setting and limitation of the degree of freedom of the mechanism movement and a rubber spring damper, effectively reduce the impact load of the weight of the protective clothing on the exoskeleton during the human-computer carrying movement, realize the decoupling of the left side and the right side of the exoskeleton and effectively improve the coordination of the human-computer movement.
The technical scheme of the invention is as follows:
a three-stage elastic connection suspension device comprises a first-stage suspension device, a second-stage suspension device and a third-stage suspension device;
the first-stage suspension device, the second-stage suspension device and the third-stage suspension device are connected in a dismountable order;
the first-stage suspension device comprises a one-way rubber spring damper, a mounting hinge shaft, a horizontal balance arm, a vertical rubber spring, a shaft end cover and a central hinge shaft, and is used for keeping an external load in the middle position all the time and preventing the external load from falling to the left side or the right side;
the second-stage connecting device comprises an end rubber spring, a rocker arm, a middle rubber spring, a rocker arm rotating seat, a linear bearing and a nut and is used for realizing the vertical freedom degree and the rolling freedom degree of external load;
the third pole connecting device comprises an L-shaped connecting rod, a suspender, a pin shaft and a positioning sleeve, and is used for realizing the leftward or rightward translation freedom degree of external load.
Furthermore, the horizontal balance arm is of an inverted T-shaped structure, the lower end face of the horizontal balance arm is provided with an ear plate, and the horizontal balance arm and the external hip of the exoskeleton right side and the hip of the skeleton left side share a hinge point through the ear plate and a central hinge shaft and can rotate relative to the hinge point; the left side and the right side of the horizontal balance arm are respectively provided with a one-way rubber spring damper for ensuring the horizontal position of the horizontal balance arm and realizing the tiny corner of the horizontal arm by utilizing the compression ratio of rubber; a stainless steel shaft is arranged above the horizontal balance arm, and a vertical rubber spring is mounted on the stainless steel shaft and used for bearing the vertical weight of external load; the top of the stainless steel shaft is provided with a shaft end cover which is used for preventing external load from moving along the axial direction.
Further, the second-stage suspension device is characterized in that the linear bearing is mounted in an inner hole of the rocker arm rotating seat, and the axial displacement of the linear bearing relative to the rocker arm rotating seat is limited by the retainer ring for the axial through hole, so that the rocker arm rotating seat can axially move along the stainless steel shaft above the horizontal balance arm through the linear bearing; a vertical rubber spring is arranged below the rocker arm rotating seat and is used for absorbing vibration and impact energy when external load moves up and down along with the rocker arm rotating seat in an axial direction;
the two sides of the rocker arm rotating seat are respectively provided with a middle rubber spring, the section of the middle rubber spring is rectangular, the middle part of the middle rubber spring is rubber, the two sides of the middle rubber spring are steel plates which are fixedly connected through high-temperature vulcanization treatment, the outer side of each steel plate is provided with a bolt, one side of each steel plate is connected with the rocker arm rotating seat through threads, and the other side of each steel plate is fixed with the rocker arm through a nut; the middle rubber spring has elasticity and damping characteristics of vertical direction and bending resistance, can realize vertical micro displacement and lateral micro angle rolling of external load, and can realize mechanical characteristic decoupling of the suspension rods on the left side and the right side; the left side and the right side of the middle rubber spring are respectively provided with a rocker arm, one side of each rocker arm is connected with the middle rubber spring, and the other end of each rocker arm is connected with the suspender through a horizontal mounting hinge shaft;
the outer side of the rocker arm is provided with an end rubber spring, the left side and the right side of the rocker arm are respectively provided with one end of the end rubber spring, an external thread screw is arranged at one end of the end rubber spring and is in threaded connection with the rocker arm, the other end of the end rubber spring is a rubber body, the outermost end face of the end rubber spring is always in contact with the side face of the L-shaped connecting rod, and a certain pre-pressure is realized between the end rubber spring and the L-shaped connecting rod through installation.
Furthermore, the third-stage suspension device is characterized in that the third-stage connecting device is of a bilateral symmetry quadrilateral structure, the suspension rods on the left side and the right side are respectively connected with the rocker arm through pin shafts and can rotate around the pin shafts, and the sizes of the upper pin shaft and the lower pin shaft of the suspension rod are consistent;
the L-shaped connecting rods on the left side and the right side are respectively connected with the hanging rod through pin shafts and can rotate around the pin shafts, the L-shaped connecting rods are fixed with the external load-bearing back protection plate through bolts, namely, the external load-bearing back protection plate, the L-shaped connecting rods, the hanging rod and the rocker arm form a parallelogram structure, so that the external load-bearing back protection plate can realize the micro transverse movement of the left side and the right side relative to the rocker arm through the rotating motion of the L-shaped connecting rods and the hanging rod;
the inner end face of the L-shaped connecting rod is in close contact with the outer end face of the end rubber spring on the outer side of the rocker arm, so that contact force and restoring force with elastic and damping characteristics are constantly kept when external load transversely moves relative to the left side and the right side of the rocker arm.
Furthermore, the main body material of the vertical rubber spring is rubber, the vertical rubber spring is fixedly connected with the upper metal plate and the lower metal plate through high-temperature vulcanization treatment, the elasticity and the damping characteristic of the rubber spring are utilized, the vertical micro displacement of the external load is realized, and the vertical impact load possibly generated when the mass center moves up and down along with the walking of a human body is relieved.
Furthermore, the unidirectional rubber spring damper comprises a fixed sleeve, a copper sleeve, a rubber spring, a mandril, a sleeve end cover, a mandril seat and a joint bearing, wherein one end of the unidirectional rubber spring damper is connected with the horizontal balance arm through a pin shaft, and the other end of the unidirectional rubber spring damper is connected with a mounting seat on the upper surface of the hip structure of the exoskeleton through a pin shaft, so that the unidirectional rubber spring damper is used for balancing the weight of the left side and the right side and allowing a small rotation angle to the left or the right.
Furthermore, the copper sleeve is made of brass and is embedded in the inner hole of the fixed sleeve, so that the friction between the damper and the installation hinge shaft of the damper can be reduced.
Furthermore, the rubber spring is of a kidney-shaped cylindrical structure with two thick ends and a thin middle part, is arranged in the inner cavity of the fixed sleeve, realizes the micro-angle rotation of external load around the central hinge shaft by utilizing the compression ratio of the rubber spring under the action of load, and absorbs the impact load generated by the up-and-down motion of the mass center of the external load along with the motion of a human body by utilizing the damping characteristic of the rubber spring; the sleeve end cover is connected with the fixed sleeve through internal threads and used for limiting the ejector rod and realizing the pre-pressure with the rubber spring; the ejector rod is in a stepped shaft shape, and one end with a large diameter is positioned in the inner cavity of the fixed sleeve and is respectively kept in contact with the rubber spring and the inner surface of the sleeve end cover; the ejector rod can axially move along the inner hole of the sleeve end cover; the other end of the ejector rod is provided with an external thread, the ejector rod is connected with the ejector rod seat through a thread, and the installation size of the damper can be adjusted through the threaded connection; the knuckle bearing is positioned in the inner hole of the ejector rod seat, and the non-parallelism error of the central axis of the mounting holes at the two ends of the damper can be eliminated.
Furthermore, the linear bearing at the central part of the second-stage suspension device is matched with the stainless steel shaft connected with the horizontal balance arm of the first-stage suspension device, can move up and down along the stainless steel shaft, and bears the weight of the linear bearing by virtue of the vertical rubber spring of the first-stage suspension device; in order to prevent the second-stage suspension device from separating from the stainless steel shaft when moving upwards, a shaft end cover is arranged at the tail end of the stainless steel shaft; the third-stage suspension device is respectively matched with the mounting hinge shafts on the left side and the right side of the rocker arm of the second-stage suspension device through the suspension rods on the left side and the right side of the third-stage suspension device, so that the third-stage suspension device can be hung relative to the second-stage suspension device.
Further, the external load is protective clothing.
The invention has the following remarkable effects:
through the structural connection mode that the three-stage suspension device is arranged between the left hip structure and the right hip structure of the power-assisted exoskeleton and the protective suit, the motions of the protective suit relative to the rotational freedom degree, the vertical displacement freedom degree, the rotational freedom degree in a horizontal plane, the lateral rolling freedom degree in a frontal plane, the transverse displacement freedom degree and the like of the exoskeleton can be realized, damping characteristics and position recovery and limitation are provided for the motions of all the degrees of freedom through the rubber spring and the damper, meanwhile, the weight of the protective suit can be gradually and downwards transmitted to the exoskeleton along the three-stage suspension device, and the weight of the protective suit is not borne by a human body.
Drawings
FIG. 1 is a front view of a protective garment back panel and hip structure suspension;
figure 2 is a top plan view of the back shield and hip structure suspension of the protective garment;
FIG. 3 is a front cross-sectional view of a first stage suspension arrangement;
FIG. 4 is a top view of the first stage suspension;
FIG. 5 is a front cross-sectional view of a second stage suspension arrangement;
FIG. 6 is a top view of a second stage suspension;
FIG. 7 is a front cross-sectional view of a tertiary suspension;
FIG. 8 is a top view of a third stage suspension arrangement;
FIG. 9 is a front cross-sectional view of the one-way rubber spring damper;
FIG. 10 is a top view of a one-way rubber spring damper;
in the figure: 1-a first stage of suspension; 2-a second level of suspension; 3-a third stage suspension device; 4-one-way rubber spring damper; 5, mounting a hinge shaft; 6-horizontal balance arm; 7-vertical rubber spring; 8-shaft end cap; 9-central hinge axis; 10-end rubber spring; 11-a rocker arm; 12-middle rubber spring; 13-rocker arm swivel; 14-a linear bearing; 15-a nut; a 16-L shaped connecting rod; 17-a boom; 18-a pin shaft; 19-a positioning sleeve; 20-fixing the sleeve; 21-a copper sleeve; 22-rubber spring; 23-a mandril; 24-sleeve end cap; 25-a jack-pin seat; 26-knuckle bearings; 27-back guard board; 28-exoskeleton right hip; 29-exoskeleton left hip.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
As shown in fig. 1 to 10, a three-stage elastic connection suspension device comprises a first-stage suspension device 1, a second-stage suspension device 2 and a third-stage suspension device 3;
the first-stage suspension device 1, the second-stage suspension device 2 and the third-stage suspension device 3 are connected in a dismountable order;
the first-stage suspension device 1 comprises a one-way rubber spring damper 4, a mounting hinge shaft 5, a horizontal balance arm 6, a vertical rubber spring 7, a shaft end cover 8 and a central hinge shaft 9, and is used for enabling external load to be always positioned in the middle position and not to fall to the left side or the right side;
the second-stage connecting device 2 comprises an end rubber spring 10, a rocker arm 11, a middle rubber spring 12, a rocker arm rotating seat 13, a linear bearing 14 and a nut 15 and is used for realizing the vertical freedom degree and the rolling freedom degree of external load;
the third pole connecting device 3 comprises an L-shaped connecting rod 16, a suspender 17, a pin shaft 18 and a positioning sleeve 19, and is used for realizing the degree of freedom of translation of external load leftwards or rightwards.
Further, the first stage suspension device 1 is characterized in that the horizontal balance arm 6 is of an inverted T-shaped structure, the lower end surface of the horizontal balance arm is provided with an ear plate, and the horizontal balance arm and the exoskeleton right side hip 28 and the skeleton left side hip 29 share a hinge point through the ear plate and the central hinge shaft 9 and can rotate relative to the hinge point; the left side and the right side of the horizontal balance arm 6 are respectively provided with a one-way rubber spring damper 4 which is used for ensuring the horizontal position of the horizontal balance arm 6 and realizing the tiny corner of the horizontal arm by utilizing the compression ratio of rubber; a stainless steel shaft is arranged above the horizontal balance arm 6, and a vertical rubber spring 7 is mounted on the stainless steel shaft and used for bearing the vertical weight of external load; the stainless steel shaft is provided at the top with a shaft end cap 8, which serves to prevent the external load from moving in the axial direction.
Further, the second stage suspension device 2 is characterized in that the linear bearing 14 is installed in an inner hole of the rocker arm rotary seat 13, and the axial displacement of the linear bearing 14 relative to the rocker arm rotary seat 13 is limited by a retainer ring for an axial direction through the hole, so that the rocker arm rotary seat 13 can move axially along the stainless steel shaft above the horizontal balance arm 6 through the linear bearing 14; a vertical rubber spring 7 is arranged below the rocker arm rotary seat 13 and is used for absorbing vibration and impact energy when external load moves up and down along with the rocker arm rotary seat 13;
the two sides of the rocker arm rotating seat 13 are respectively provided with a middle rubber spring 12, the section of the middle rubber spring 12 is rectangular, the middle part of the middle rubber spring is rubber, the two sides of the middle rubber spring are steel plates which are fixedly connected through high-temperature vulcanization treatment, the outer side of each steel plate is provided with a bolt, one side of each steel plate is connected with the rocker arm rotating seat 13 through threads, and the other side of each steel plate is fixed with the rocker arm 11 through a nut 15; the middle rubber spring 12 has elasticity and damping characteristics of vertical direction and bending resistance, can realize vertical micro displacement and lateral micro angle rolling of external load, and can realize mechanical characteristic decoupling of the suspension rods 17 at the left side and the right side; the left side and the right side of the middle rubber spring 12 are respectively provided with a rocker arm 11, one side of the rocker arm 11 is connected with the middle rubber spring 12, and the other end is connected with a suspender 17 through a horizontal mounting hinge shaft 5;
the outer side of the rocker arm 11 is provided with an end rubber spring 10, the left side and the right side of the rocker arm are respectively provided with one end of the end rubber spring 10, an external threaded screw is arranged at one end of the end rubber spring and is in threaded connection with the rocker arm 11, the other end of the end rubber spring is a rubber body, the end face of the outermost side of the end rubber spring is always in contact with the side face of the L-shaped connecting rod 16, and a certain pre-pressure is realized between the end rubber spring and the L-shaped connecting rod through installation.
Further, the third-stage suspension device 3 is characterized in that the third-stage connecting device 3 is of a bilateral symmetry quadrilateral structure, the suspension rods 17 on the left side and the right side are respectively connected with the rocker arm 11 through pin shafts 18 and can rotate around the pin shafts 18, and the sizes of the upper pin shaft 18 and the lower pin shaft 18 of the suspension rod 17 are consistent;
the L-shaped connecting rods 16 on the left side and the right side are respectively connected with the suspension rods 17 through pin shafts 18 and can rotate around the pin shafts 18, the L-shaped connecting rods 16 are fixed with the external load-bearing back protection plate 27 through bolts, namely, the external load-bearing part, the L-shaped connecting rods 16, the suspension rods 17 and the rocker arms 11 form a parallelogram structure, so that the external load-bearing part can realize micro transverse movement on the left side and the right side relative to the rocker arms 11 through the rotating motion of the L-shaped connecting rods 16 and the suspension rods 17;
the inner end face of the L-shaped connecting rod 16 is closely contacted with the outer end face of the end rubber spring at the outer side of the rocker arm 11, so that the contact force and the restoring force with elastic and damping characteristics are kept when external load moves transversely relative to the left and right sides of the rocker arm 11.
Furthermore, the main body material of the vertical rubber spring 7 is rubber, and is fixedly connected with the upper metal plate and the lower metal plate through high-temperature vulcanization treatment, and the elasticity and the damping characteristic of the rubber spring are utilized to realize the vertical micro displacement of the external load, and slow down the vertical impact load possibly generated by the up-and-down movement of the mass center when the external load is walking along with the human body.
Further, the unidirectional rubber spring damper 4 comprises a fixed sleeve 20, a copper sleeve 21, a rubber spring 22, a push rod 23, a sleeve end cover 24, a push rod seat 25 and a joint bearing 26, wherein one end of the unidirectional rubber spring damper is connected with the horizontal balance arm 6 through a pin shaft 18, and the other end of the unidirectional rubber spring damper is connected with a mounting seat on the upper surface of the hip structure of the exoskeleton through the pin shaft 18, so that the unidirectional rubber spring damper is used for balancing the weight of the left side and the right side and allowing a small rotation angle to the left or the right.
Furthermore, the copper sleeve 21 is made of brass and is embedded in the inner hole of the fixed sleeve 20, so that the friction between the damper and the installation hinge shaft 5 can be reduced.
Further, the rubber spring 22 is a kidney-shaped cylindrical structure with thick ends and thin middle, is arranged in the inner cavity of the fixed sleeve 20, realizes the micro-angle rotation of external load around the central hinge shaft 9 by utilizing the compression ratio of the rubber spring under the action of load, and absorbs the impact load generated by the up-and-down movement of the mass center of the external load along with the movement of the human body by utilizing the damping characteristic of the rubber spring; the sleeve end cover 24 is in internal thread connection with the fixed sleeve 20 and is used for realizing the limit of the ejector rod 23 and the pre-pressure of the rubber spring 22; the ejector rod 23 is in a stepped shaft shape, and one end with a large diameter is positioned in the inner cavity of the fixed sleeve 20 and is respectively kept in contact with the inner surfaces of the rubber spring 22 and the sleeve end cover 24; the ejector rod 23 can axially move along the inner hole of the sleeve end cover 24; the other end of the ejector rod 23 is provided with an external thread, is connected with the ejector rod seat 25 through a thread, and can realize the adjustment of the installation size of the damper through the threaded connection; the knuckle bearing 26 is positioned in an inner hole of the ejector rod seat 25, and can eliminate the non-parallelism error of the central axis of the mounting holes at the two ends of the damper.
Further, a linear bearing 14 at the central part of the second-stage suspension device 2 is matched with a stainless steel shaft connected with the horizontal balance arm 6 of the first-stage suspension device 1, can move up and down along the stainless steel shaft, and bears the weight of the stainless steel shaft by virtue of a vertical rubber spring 7 of the first-stage suspension device 1; in order to prevent the second-stage suspension device 2 from separating from the stainless steel shaft when moving upwards, a shaft end cover 8 is arranged at the tail end of the stainless steel shaft; the third-stage suspension device 3 is respectively matched with the installation hinge shafts 5 at the left side and the right side of the rocker arm 11 of the second-stage suspension device 2 through the suspension rods 17 at the left side and the right side of the third-stage suspension device, so that the third-stage suspension device can be hung relative to the second-stage suspension device 2.
Further, the external load is protective clothing.
Example 1
Fig. 1 to 2 show that one embodiment of the present invention is:
in order to ensure that the weight of the protective suit is transmitted to the exoskeleton hip structure, so that a human body does not bear external load and the motion coordination between a human machine and a human machine is realized, three-stage connecting devices are arranged between the protective suit and the left and right hip sides of the exoskeleton, so that the weight of the protective suit is transmitted to the exoskeleton step by step, and the vertical displacement freedom degree, the rotation freedom degree, the lateral rolling freedom degree and the transverse displacement freedom degree of the protective suit relative to the exoskeleton are realized; and through left and right both sides rubber damper, the vertical rubber spring of horizontal balance arm top, middle rubber spring and tip rubber spring, for the protective clothing provides stable support and motion position restriction.
Example 2
Fig. 3 to 4 show that one embodiment of the present invention is:
a horizontal balance arm with an inverted T-shaped structure is taken as a main body structure, and parts such as unidirectional rubber spring dampers at two sides, a central hinge shaft and the like are assisted to form a first-stage connecting device which shares the central hinge shaft with the left hip structure and the right hip structure of the exoskeleton; the one-way rubber spring dampers on the left side and the right side are used for providing elastic support and reset damping for the horizontal position of the horizontal balance arm and realizing the tiny corner of the horizontal arm by utilizing the compression ratio of rubber. The vertical rubber spring of stainless steel axle installation of horizontal balance arm top for bear the vertical weight of protective clothing, and utilize rubber spring's elasticity and damping characteristic, realize the vertical small displacement of upper and lower vertical of protective clothing, and slow down the protective clothing and reciprocate the vertical impact load that probably produces along with the mass center when the human walking.
Example 3
Fig. 5 to 6 show that one embodiment of the present invention is:
a one-way rubber spring damper is arranged in the first-stage connecting device, one end of the one-way rubber spring damper is connected with the horizontal balance arm through a pin shaft, and the other end of the one-way rubber spring damper is connected with a mounting seat on the upper surface of the exoskeleton hip structure through a pin shaft, so that the one-way rubber spring damper is used for balancing the weight of the left side and the right side and allowing a small corner to be turned leftwards or rightwards; the rubber spring is arranged in an inner cavity of the fixed sleeve, the compression ratio of the rubber spring under the action of load is utilized to realize the tiny angle rotation of the protective suit around the central hinge shaft, and the elastic damping characteristic of the rubber spring is utilized to provide supporting force and resetting capability for the position of the horizontal balance arm. The rod end adopts a joint bearing, so that the non-parallelism error of the central axes of the mounting holes at the two ends can be eliminated.
Example 4
Fig. 7 to 8 show that one embodiment of the present invention is:
the second-stage connecting device is provided with a linear bearing with rolling friction characteristic and is arranged in an inner hole of the rocker arm rotating seat, so that the rocker arm rotating seat can axially move along the stainless steel shaft above the horizontal balance arm through the linear bearing; the two sides of the rocker arm rotating seat are respectively provided with a middle rubber spring, the rocker arm rotating seat has vertical and bending-resistant elasticity and damping characteristics, vertical small displacement and lateral small-angle rolling of the protective clothing can be realized, and mechanical characteristic decoupling of suspenders on the left side and the right side can be realized. The outer sides of the rocker arms on the left side and the right side are provided with end rubber springs, the left side and the right side are respectively provided with one rocker arm, the outermost end face of each rocker arm is always in contact with the side face of the L-shaped connecting rod, a certain pre-pressure is realized between the rocker arms and the L-shaped connecting rod through installation, and the rocker arms can provide damping characteristics for the transverse displacement of the protective suit.
Example 5
Fig. 9 to 10 show that one embodiment of the present invention is:
the third-stage connecting device is a quadrilateral mechanism with a bilateral symmetry structure and mainly comprises an L-shaped connecting rod, a suspender, a protective clothing back plate and a rocker arm assembly. The suspender is connected with the rocker arm through a pin shaft and can rotate around the pin shaft, the L-shaped connecting rod is connected with the suspender through the pin shaft and can rotate around the pin shaft, and the other end of the L-shaped connecting rod is fixed with the back plate of the protective clothing through a bolt, so that the protective clothing can pass through the L-shaped connecting rod and the suspender to move slightly transversely relative to the rocker arm. The inner end face of the L-shaped connecting rod is in close contact with the outer end face of the end rubber spring on the outer side of the rocker arm, so that the contact force and the restoring force with elasticity and damping characteristics are constantly kept when the protective clothing transversely moves left and right relative to the rocker arm.
Claims (10)
1. The utility model provides a tertiary elastic connection linkage which characterized in that: the suspension device comprises a first-stage suspension device (1), a second-stage suspension device (2) and a third-stage suspension device (3);
wherein, the first-stage suspension device (1), the second-stage suspension device (2) and the third-stage suspension device (3) are connected in a dismountable order;
the first-stage suspension device (1) comprises a one-way rubber spring damper (4), a mounting hinge shaft (5), a horizontal balance arm (6), a vertical rubber spring (7), a shaft end cover (8) and a central hinge shaft (9), and is used for enabling external load to be always located in the middle position and not to fall to the left side or the right side;
the second-stage suspension device (2) comprises an end rubber spring (10), a rocker arm (11), a middle rubber spring (12), a rocker arm rotating seat (13), a linear bearing (14) and a nut (15) and is used for realizing the vertical freedom degree and the rolling freedom degree of external load;
the third-stage suspension device (3) comprises an L-shaped connecting rod (16), a suspension rod (17), a pin shaft (18) and a positioning sleeve (19) and is used for realizing the degree of freedom of leftward or rightward translation of external load.
2. A three-stage resilient link suspension as claimed in claim 1 wherein: the first-stage suspension device (1) is characterized in that the horizontal balance arm (6) is of an inverted T-shaped structure, an ear plate is arranged on the lower end face of the horizontal balance arm, and the horizontal balance arm, the right exoskeleton hip (28) and the left exoskeleton hip (29) share a hinge point through the ear plate and a central hinge shaft (9) and can rotate relative to the hinge point; the left side and the right side of the horizontal balance arm (6) are respectively provided with a one-way rubber spring damper (4) which is used for ensuring the horizontal position of the horizontal balance arm (6) and realizing the tiny corner of the horizontal arm by utilizing the compression ratio of rubber; a stainless steel shaft is arranged above the horizontal balance arm (6), and a vertical rubber spring (7) is arranged on the stainless steel shaft and used for bearing the vertical weight of external load; the top of the stainless steel shaft is provided with a shaft end cover (8) which is used for preventing external load from moving along the axial direction.
3. A three-stage resilient link suspension as claimed in claim 2, wherein: the second-stage suspension device (2) is characterized in that the linear bearing (14) is installed in an inner hole of the rocker arm rotating seat (13), and the axial displacement of the linear bearing (14) relative to the rocker arm rotating seat (13) is limited by a retainer ring for an axial through hole, so that the rocker arm rotating seat (13) can axially move along a stainless steel shaft above the horizontal balance arm (6) through the linear bearing (14); a vertical rubber spring (7) is arranged below the rocker arm rotating seat (13) and is used for absorbing vibration and impact energy when external load moves up and down along with the rocker arm rotating seat (13) in the axial direction;
two sides of the rocker arm rotating seat (13) are respectively provided with a middle rubber spring (12), the section of each middle rubber spring (12) is rectangular, the middle part of each middle rubber spring is rubber, two sides of each middle rubber spring are steel plates which are fixedly connected through high-temperature vulcanization treatment, the outer sides of the steel plates are bolts, one side of each middle rubber spring is connected with the rocker arm rotating seat (13) through threads, and the other side of each middle rubber spring is fixed with the rocker arm (11) through a nut (15); the middle rubber spring (12) has vertical and bending-resistant elasticity and damping characteristics, can realize vertical micro displacement and lateral micro-angle rolling of external load, and can realize mechanical characteristic decoupling of the suspension rods (17) on the left side and the right side; the left side and the right side of the middle rubber spring (12) are respectively provided with a rocker arm (11), one side of each rocker arm (11) is connected with the middle rubber spring (12), and the other end of each rocker arm is connected with a suspender (17) through a horizontal mounting hinge shaft (5);
the outer side of the rocker arm (11) is provided with an end rubber spring (10), the left side and the right side of the rocker arm are respectively provided with one end, one end of the end rubber spring (10) is provided with an external threaded screw rod and is connected with the rocker arm (11) through threads, the other end of the end rubber spring is a rubber body, the end face at the outermost side of the end rubber spring is always in contact with the side face of the L-shaped connecting rod (16), and a certain pre-pressure is realized between the end rubber spring and the L-shaped connecting rod through installation.
4. A three-stage resilient link suspension as claimed in claim 3 wherein: the third-stage suspension device (3) is characterized in that the third-stage connection device (3) is of a bilateral symmetry quadrilateral structure, suspenders (17) on the left side and the right side are respectively connected with the rocker arm (11) through pin shafts (18) and can rotate around the pin shafts (18), and the pin shafts (18) on the suspenders (17) are consistent with the installation hinge shaft (5) in size;
the L-shaped connecting rods (16) on the left side and the right side are respectively connected with the suspension rods (17) through pin shafts (18) and can rotate around the pin shafts (18), the L-shaped connecting rods (16) are fixed with an external load back protection plate (27) through bolts, namely, an external load forms a parallelogram structure with the L-shaped connecting rods (16), the suspension rods (17) and the rocker arms (11), so that the external load can realize micro transverse movement on the left side and the right side relative to the rocker arms (11) through the rotating motion of the L-shaped connecting rods (16) and the suspension rods (17);
the inner end face of the L-shaped connecting rod (16) is in close contact with the outer end face of the end rubber spring on the outer side of the rocker arm (11), so that contact force and restoring force with elastic and damping characteristics are kept constantly when external load moves transversely relative to the rocker arm (11) on the left and right sides.
5. A three-stage resilient link suspension as claimed in claim 4 wherein: the vertical rubber spring (7) is made of rubber, is fixedly connected with the upper metal plate and the lower metal plate through high-temperature vulcanization treatment, and achieves vertical micro displacement of external load by utilizing the elasticity and damping characteristics of the rubber spring and vertical impact load possibly generated by up-down movement of the mass center when the external load is walking along with a human body.
6. A three-stage resilient link suspension as claimed in claim 5 wherein: the one-way rubber spring damper (4) comprises a fixed sleeve (20), a copper sleeve (21), a rubber spring (22), a push rod (23), a sleeve end cover (24), a push rod seat (25) and a joint bearing (26), wherein one end of the one-way rubber spring damper is connected with a horizontal balance arm (6) through a mounting hinge (5), and the other end of the one-way rubber spring damper is connected with a mounting seat on the upper surface of the hip structure of the exoskeleton through a pin shaft (18) and used for balancing the weight of the left side and the right side and allowing a small rotation angle to the left or the right.
7. A three-stage resilient link suspension unit as claimed in claim 6, wherein: the copper sleeve (21) is made of brass and is embedded in an inner hole of the fixed sleeve (20), so that friction between the damper and the installation hinge shaft (5) of the damper can be reduced.
8. A three-stage resilient link suspension unit as claimed in claim 7, wherein: the rubber spring (22) is of a waist-shaped cylindrical structure with thick two ends and thin middle, is arranged in the inner cavity of the fixed sleeve (20), realizes the micro-angle rotation around the central hinge shaft (9) of external load by utilizing the compression ratio of the rubber spring under the action of load, and absorbs the impact load generated by the up-and-down motion of the mass center of the external load along with the motion of a human body by utilizing the damping characteristic of the rubber spring; the sleeve end cover (24) is in internal thread connection with the fixed sleeve (20) and used for limiting the ejector rod (23) and realizing pre-pressure with the rubber spring (22); the ejector rod (23) is in a stepped shaft shape, one end with a large diameter is positioned in the inner cavity of the fixed sleeve (20) and is respectively kept in contact with the inner surfaces of the rubber spring (22) and the sleeve end cover (24); the ejector rod (23) can axially move along an inner hole of the sleeve end cover (24); the other end of the ejector rod (23) is provided with an external thread, is connected with the ejector rod seat (25) through a thread, and can realize the adjustment of the installation size of the damper through the thread connection; the joint bearing (26) is positioned in an inner hole of the ejector rod seat (25), and the non-parallelism error of the central axis of the mounting holes at the two ends of the damper can be eliminated.
9. A three-stage resilient link suspension unit as claimed in claim 8 wherein: the linear bearing (14) at the central part of the second-stage suspension device (2) is matched with a stainless steel shaft connected with a horizontal balance arm (6) of the first-stage suspension device (1), can move up and down along the stainless steel shaft, and bears the weight of the first-stage suspension device (1) by virtue of a vertical rubber spring (7); in order to prevent the second-stage suspension device (2) from being separated from the stainless steel shaft when moving upwards, a shaft end cover (8) is arranged at the tail end of the stainless steel shaft; the third-stage suspension device (3) is respectively matched with the mounting hinge shafts (5) at the left side and the right side of the rocker arm (11) of the second-stage suspension device (2) through the suspension rods (17) at the left side and the right side of the third-stage suspension device, so that the second-stage suspension device (2) can be hung.
10. A three-stage resilient link suspension unit as claimed in claim 9 wherein: the external load is protective clothing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011608531.0A CN112828861B (en) | 2020-12-30 | 2020-12-30 | Three-level elastic connection suspension device |
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| CN202011608531.0A CN112828861B (en) | 2020-12-30 | 2020-12-30 | Three-level elastic connection suspension device |
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| KR101186540B1 (en) * | 2011-03-14 | 2012-10-08 | 현대로템 주식회사 | Coxa structure for wearable exoskeleton robot |
| CN103142332B (en) * | 2013-02-25 | 2014-12-24 | 西南交通大学 | Assistance type two-stage coupling device used between back frame and hip part of exoskeleton |
| CN105923007A (en) * | 2016-06-21 | 2016-09-07 | 中车唐山机车车辆有限公司 | Swing bolster of bogie |
| WO2018165399A1 (en) * | 2017-03-08 | 2018-09-13 | Ekso Bionics, Inc. | Devices for the support and balance of human exoskeletons |
| CN107981438A (en) * | 2017-12-15 | 2018-05-04 | 深圳沃海森科技有限公司 | The air-ventilating garments of integrated ectoskeleton |
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