CN113771002A - Active bionic multi-rod virtual wearable hip joint - Google Patents
Active bionic multi-rod virtual wearable hip joint Download PDFInfo
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- CN113771002A CN113771002A CN202110927116.XA CN202110927116A CN113771002A CN 113771002 A CN113771002 A CN 113771002A CN 202110927116 A CN202110927116 A CN 202110927116A CN 113771002 A CN113771002 A CN 113771002A
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- ring
- crotch
- rod
- waist
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses an active bionic multi-rod virtual wearable hip joint which comprises a waist ring, a crotch ring and a plurality of active connecting rod assemblies connected between the waist ring and the crotch ring, wherein each active connecting rod assembly comprises an active telescopic rod, an upper hinge head and a lower hinge head, the upper end of each upper hinge head is rotationally matched with the waist ring by taking a Z-direction axis as a center, the lower end of each upper hinge head is rotationally matched with the upper end of the corresponding active telescopic rod by taking a horizontal axis as a center, the lower end of each lower hinge head is rotationally matched with the crotch ring by taking the Z-direction axis as a center, and the upper end of each lower hinge head is rotationally matched with the lower end of the corresponding active telescopic rod by taking the horizontal axis as a center. The multi-rod type multi-degree-of-freedom virtual hip joint mechanism is constructed by the waist ring, the left half crotch ring and the right half crotch ring in combination with the plurality of driving connecting rod assemblies, the driving connecting rod assemblies are used as actuating mechanisms and are used for driving hip joints to move actively, and the multi-rod type multi-degree-of-freedom virtual hip joint mechanism can be used for the disabled-assisting exoskeleton to control bodies and realize electric control of human posture control.
Description
Technical Field
The invention belongs to the technical field of wearable power-assisted exoskeletons, and particularly relates to an active bionic multi-rod virtual wearable hip joint.
Background
The active bionic multi-rod virtual wearable hip joint is a mechanical device which can be worn outside the body of an operator and can help the disabled, and the active bionic multi-rod virtual wearable hip joint can provide support and protection for the person wearing the exoskeleton and enhance the motion and load bearing capacity. The wearable exoskeleton is widely applied to the field of medical rehabilitation application.
The mechanical structure of the hip joint in the active bionic multi-rod virtual wearable hip joint directly influences the freedom degree of movement of the crotch position of a user, the existing hip joint device of the wearable exoskeleton is insufficient in joint freedom degree, poor in matching performance with actual movement of the hip joint, difficult to adapt to the requirements of complex leg actions of the user, large restraint counter force exists, and man-machine matching obstacle is caused.
Therefore, in order to solve the above problems, there is a need for an active bionic multi-rod virtual wearable hip joint, which is constructed by a multi-rod linkage structure, has an adjustable position, is used for actively driving hip joint movement, is adaptable to complex waist movements of a user, and is beneficial to improving man-machine matching performance.
Disclosure of Invention
In view of the above, the invention provides an active bionic multi-rod virtual wearable hip joint, which is constructed by a multi-rod linkage structure, is used for actively driving a hip joint to move, can adapt to complex waist actions of a user, and is beneficial to improving the man-machine matching performance.
The active bionic multi-rod virtual wearable hip joint comprises a waist ring matched with a waist, a crotch ring matched with the crotch and a plurality of active connecting rod assemblies connected between the waist ring and the crotch ring, wherein each active connecting rod assembly comprises an active telescopic rod, an upper hinge head and a lower hinge head, the upper end of each upper hinge head is rotationally matched with the waist ring by taking a Z-direction axis as a center, the lower end of each upper hinge head is rotationally matched with the upper end of the corresponding active telescopic rod by taking a horizontal axis as a center, the lower end of each lower hinge head is rotationally matched with the crotch ring by taking the Z-direction axis as a center, and the upper end of each lower hinge head is rotationally matched with the lower end of the corresponding active telescopic rod by taking the horizontal axis as a center.
Furthermore, the driving telescopic rod comprises an outer barrel, an inner rod and a telescopic driving piece, wherein the inner rod is sleeved in the outer barrel in an axially telescopic mode, the telescopic driving piece is arranged in the outer barrel and used for driving the inner rod to stretch, the end portions of the outer barrel and the inner rod are respectively provided with a connecting end, and the two connecting ends are respectively used as the upper end and the lower end of the driving telescopic rod.
Further, the crotch ring comprises a left half crotch ring and a right half crotch ring, and the left half crotch ring and the right half crotch ring are in C-shaped structures and used for being conformally encircled on the left side and the right side of the crotch.
Furthermore, the waist ring comprises a waist belt and a plurality of mounting sections fixed on the waist belt, and the upper hinge head is rotatably mounted on the mounting sections.
Further, the two groups of driving connecting rod assemblies are respectively connected between the waist ring and the left half crotch ring and between the waist ring and the right half crotch ring.
Further, the waist ring further comprises a lock catch, and the lock catch is arranged on the waist belt and used for adjusting the tightness of the waist belt.
Furthermore, each group of driving connecting rod assemblies at least comprises six driving connecting rod assemblies, the two groups of driving connecting rod assemblies are annularly arranged around the waist ring, and every two adjacent driving connecting rod assemblies are arranged in a V shape.
Further, each active link assembly has a length such that the waist ring and the crotch ring are parallel in an initial state.
Further, side plates are connected to the positions, on the left side and the right side, below the crotch ring.
The invention has the beneficial effects that:
the multi-rod type multi-degree-of-freedom virtual hip joint mechanism is constructed by the waist ring, the left half hip ring and the right half hip ring in combination with a plurality of driving connecting rod assemblies, the driving connecting rod assemblies are used as actuating mechanisms and are used for driving hip joints to move actively, and the multi-rod type multi-degree-of-freedom virtual hip joint mechanism can be used as a disabled assisting exoskeleton for controlling a body and realizing electric control of human posture control; the waist-waist;
the virtual hip joint structure of the structure can be matched with a wearable exoskeleton system, so that good load transfer capability and motion freedom between a mechanical leg structure and a trunk can be kept, good man-machine matching characteristics are realized on the basis of ensuring good human body fitting degree, comfortableness and transfer capability, good man-machine efficacy and accurate bionic action capability are achieved, and a good waist and leg transition mechanism is provided for the wearable exoskeleton assistance system;
the openable waist ring, the left half-crotch ring and the right half-crotch ring which are in left-right surrounding shapes are used for being attached to the waist and the crotch of a user to construct a ring-shaped surrounding waist ring structure and a C-shaped half-surrounding crotch ring structure, and the multi-rod cooperation mechanism forms an internal C-shaped hollow structure to accommodate the crotch of a human body and facilitate wearing; the waistband is convenient to wear and maintain the structural stability under the wearing condition due to the integrity and the openability of the waistband, the lock catch is a locking structure of the waistband, and the waistband is attached to the waist of a human body in a locking state so as to maintain the relative rigidity of the waistband structure; the good fit characteristic of the mechanical structure and the human body is kept, the joint position blurring and adjustability are realized based on the plurality of driving connecting rod assemblies, and the bionic robot has good man-machine effect and accurate bionic action capability;
the hip joint can be used for conducting stress on the waist and the back of a human body, is beneficial to protecting the waist of the human body, and if the crotch ring is connected with the bionic mechanical leg, the stress is directly transmitted to the mechanical leg through the crotch ring, so that the body feeling load of the human body is reduced, the hip joint is better applied to high-strength load scenes, the load bearing capacity of a user is improved, and the physical strength is saved.
Drawings
The invention is further described below with reference to the figures and examples.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic top view;
FIG. 3 is a schematic bottom view;
FIG. 4 is a schematic view of the active link assembly;
Detailed Description
As shown in the figure: the active bionic multi-rod virtual wearable hip joint comprises a waist ring 1 matched with a waist, a crotch ring 2 matched with the crotch and a plurality of driving connecting rod assemblies 3 connected between the waist ring and the crotch ring, wherein each driving connecting rod assembly comprises a driving telescopic rod, an upper hinge head 3a and a lower hinge head 3b, the upper end of the upper hinge head 3a is rotationally matched with the waist ring 1 by taking a Z-direction axis as a center, the lower end of the upper hinge head is rotationally matched with the upper end of the driving telescopic rod by taking a horizontal axis as a center, the lower end of the lower hinge head 3b is rotationally matched with the crotch ring 2 by taking the Z-direction axis as a center, and the upper end of the lower hinge head 3b is rotationally matched with the lower end of the driving telescopic rod by taking the horizontal axis as a center.
The Z direction is consistent with the vertical direction, the horizontal plane is a plane vertical to the Z direction, as shown in the combined figure 1, the waist ring is used for being sleeved on the waist of a user, the crotch ring is used for being attached to the crotch of the user, wherein the upper end of the upper hinge head 3a is a columnar hinge rod head, the rod head vertically penetrates through an upper assembling hole of the waist ring and is in rotating fit with the upper assembling hole, the lower end of the lower hinge head 3b is a columnar hinge rod head similar to the upper hinge head 3a, and the rod head vertically penetrates through a lower assembling hole of the crotch ring and is in rotating fit with the lower assembling hole; the driving connecting rod assembly is a driving telescopic structure which can actively drive the hip joint to make corresponding actions in a telescopic way; the upper end and the lower end of the driving connecting rod assembly can horizontally rotate relative to the waist ring and the crotch ring through the upper hinge head and the lower hinge head so as to adjust the orientation of the driving connecting rod assembly, and meanwhile, the driving connecting rod assembly can also swing to change the inclination direction of the driving connecting rod assembly; the structure can be used for matching all actions of the waist such as bending and twisting of a user, for example, when the user is driven to bend forwards, the driving connecting rod assembly positioned on the front side is actively shortened, the driving connecting rod assembly positioned on the rear side is actively extended, then the upper end and the lower end of each driving connecting rod assembly are adaptively rotated through the corresponding hinge heads to adapt to the postures of the human body, so that the postures of the waist ring and the crotch ring are matched with the posture shape of the human body for bending, and similarly, when the user is driven to bend backwards or bend sideways, the driving connecting rod assemblies at different positions are respectively actively shortened or actively extended to adapt to different bending postures; when a user twists waist, the driving connecting rod assembly actively extends and the driving connecting rod assembly adjacent to the driving connecting rod assembly actively shortens, so that the waist ring rotates relative to the hip ring to be matched with the waist twisting posture; when the waist and the back of a human body bear load, the stress can be transmitted to the crotch ring through the waist ring and the driving connecting rod assembly, so that the waist of the human body is protected, and if the crotch ring is connected with the bionic mechanical legs, the stress is directly transmitted to the mechanical legs through the crotch ring, so that the body feeling load is reduced, the artificial hip joint is better applied to high-strength load scenes, the load bearing capacity of a user is improved, and the physical strength is saved; the virtual hip joint structure of the structure can be matched with a wearable exoskeleton system, so that good load transfer capacity and motion freedom degree between a mechanical leg structure and a trunk can be kept, good man-machine matching characteristics are realized on the basis of ensuring good human body fitting degree, comfort and transfer capacity, good man-machine efficacy and accurate bionic action capacity are achieved, a good waist-leg transition mechanism is provided for the wearable exoskeleton power-assisted system, the device is an active wearable exoskeleton device and is used for actively driving hip joints to move, the device can be used as a disabled-assisting exoskeleton for controlling a body, and electric control of human posture control is realized; the exoskeleton has good load carrying capacity and better exoskeleton bearing capacity.
In this embodiment, the driving telescopic rod includes an outer barrel 3c, an inner rod 3d axially and telescopically sleeved in the outer barrel, and a telescopic driving member 3e disposed in the outer barrel and used for driving the inner rod to extend and retract, wherein the ends of the outer barrel and the inner rod are respectively provided with a connecting end, and the two connecting ends are respectively used as the upper end and the lower end of the driving telescopic rod. The two connecting ends are respectively matched with the upper hinge head 3a and the lower hinge head 3b in a rotating way; as shown in fig. 4, the telescopic driving member 3e is a servo motor, the inner rod 3d is a hollow structure and has an internal thread, the outer wall of the inner rod is a smooth surface structure and is axially and slidably matched with the inner wall of the outer cylinder, the smooth surface sections of the inner rod and the inner cavity of the outer cylinder are non-circular cross sections, specifically, rectangular, polygonal or other structures, so as to prevent the inner rod from rotating relative to the outer cylinder, the output end of the telescopic driving member 3e is in transmission fit with a lead screw, the lead screw is sleeved in the inner rod and is in transmission fit with the internal rod thread, and the outer cylinder is a detachable double-segment structure so as to facilitate the installation of the telescopic driving member 3 e; the active telescopic rod of the structure is of an incompressible rigid structure, so that the load transmission of stress is facilitated, the telescopic amount can be accurately and actively controlled, and the posture of the wearable hip joint can be effectively controlled; of course, the active telescopic rod can also be realized by a hydraulic cylinder or other linear driving structures, which are not described in detail;
the active telescopic rod with the structure can actively drive the hip joint to move, and can be used for the disabled-assisting exoskeleton to control the body and realize the electric control of the posture control of the human body; the rigid structure of the active telescopic rod has good bearing capacity, the multiple rods work cooperatively to ensure that good load transfer performance is achieved between the exoskeleton legs and the hip joints, and the active telescopic rod controls the amount of expansion precisely, so that the motion joints formed by the multiple rods act cooperatively can actively adjust the angles and the positions of the joints according to the motion requirements of external wearers, and man-machine matching is actively achieved.
In this embodiment, the crotch ring 2 comprises a left half crotch ring 2a and a right half crotch ring 2b, which are in a C-shaped configuration for conformal enclosure around the left and right sides of the crotch. As shown in fig. 1 and 3, the left half crotch ring and the right half crotch ring are in left-right surrounding shapes and are used for being attached to the crotch position of a user to construct a C-shaped half surrounding structure, so that the joint structure has good human body attaching degree and excellent man-machine matching performance, joint position blurring and adjustability are achieved based on a plurality of active connecting rod assemblies, and the joint structure has good man-machine efficacy and accurate bionic mobility.
In this embodiment, the waist ring 1 includes a waist belt 1a and a plurality of mounting sections 1b fixed on the waist belt, and the upper hinge head 3a is rotatably mounted on the mounting sections. Combine shown in fig. 1 and fig. 2, the waistband adopts semi-flexible waistband, it can adopt plastics or leather material, each installation festival radial outside protrusion in waistband, wherein the installation festival adopts metal or rigid plastic material, the vertical pilot hole that has seted up on the installation festival, wherein go up the hinge head and install on the waistband through this pilot hole normal running fit, can dismantle through four screws between installation festival and the waistband and be connected, structure through waistband cooperation installation festival, both satisfied the flexible requirement of dresseing of waist ring, also satisfy the rigid mounting demand of last hinge head simultaneously.
In this embodiment, the two sets of driving connecting rod assemblies 3 are respectively connected between the waist ring and the left half crotch ring and between the waist ring and the right half crotch ring. As shown in the figure 1, the two groups of driving connecting rod assemblies are respectively positioned at the left side and the right side of the waist of a user, and the structure is matched with a C-shaped semi-encircling crotch ring structure, so that the man-machine matching performance is improved.
In this embodiment, the waist ring 1 further includes a latch 1c, and the latch 1c is disposed on the waist belt 1a for adjusting the tightness of the waist belt. The waistband is of a non-closed ring structure, the front part of the waistband is of an opening structure, the lock catch is arranged at the opening structure and enables the opening to be closed or opened, so that the waistband can be integrally formed into a closed structure to be worn on the waist, the lock catch can be fastened by threads or other existing belt lock catch structures, and the tightness of the waist ring is adjusted by the lock catch, so that a human body can conveniently wear the waistband; the semi-flexible waistband has the advantages of integrity and openability, convenience in wearing and maintenance of structural stability under wearing conditions. The waistband buckle is a locking structure of a semi-flexible waistband, and the waistband is attached to the waist of a human body in a locking state, so that the relative rigidity of the waistband structure is maintained.
In this embodiment, each group of driving link assemblies 3 includes at least six driving link assemblies, and the two groups of driving link assemblies are annularly arranged around the waist ring and the adjacent driving link assemblies are arranged in a V-shape. As shown in fig. 1, in this embodiment, each group of driving link assemblies has six driving link assemblies, each two driving link assemblies are arranged in a V-shaped layout, one driving link assembly and the left adjacent driving link assembly are in a V-shaped structure, and the driving link assembly and the right adjacent driving link assembly are necessarily in an inverted V-shaped structure, and certainly, the layout of the adjacent driving link assemblies is in a substantially V-shape, where the V-shaped layout structure does not limit the contact between the proximal ends of the two adjacent driving link assemblies, and the distance between the proximal ends of the two adjacent driving link assemblies is smaller than the distance between the distal ends of the two adjacent driving link assemblies, which is the V-shaped layout structure; referring to FIG. 3, six lower assembling holes matched with the lower hinge heads 3b are respectively formed on the left half crotch ring and the right half crotch ring, each lower assembling hole is in a 2-2-2 layout, two groups are formed in one group, and three groups are formed in total, referring to FIG. 2, twelve upper assembling holes matched with the upper hinge heads 3a are formed on the waist ring, six upper assembling holes are respectively formed on the waist ring in bilateral symmetry, the six upper assembling holes are in a 1-2-2-1 layout, and the whole ring is in a 2-2-2-2-2-2 layout, two groups are formed in six groups, wherein a group of upper assembling holes are respectively formed on the rear side and the left side and the right side of the rear fixing section 1a, a group of upper assembling holes are respectively formed on the left side of the left opening section 1b and the right side of the right opening section 1c, and an upper assembling hole is respectively formed on the front side of the left opening section 1b and the front side of the right opening section 1c, and the two form a group of upper assembling holes; each group of lower assembling holes and each group of upper assembling holes are arranged in a staggered manner in the circumferential direction, so that the driving connecting rod assemblies are arranged in a V-shaped manner two by two; the multi-degree-of-freedom hip joint device is constructed by the multi-connecting-rod structures which are arranged in a V shape in pairs, can be adapted to all action postures of the waist of a human body, and can realize good load transfer capacity and enough flexibility between the waist and the legs on the premise of keeping good man-machine matching of a mechanical structure.
In this embodiment, each active link assembly is of a length such that the waist and crotch loops are parallel in the initial state. The initial state corresponds to the state that the driving connecting rod assemblies are not extended or shortened, and the lengths of the driving connecting rod assemblies are different in combination with the figure 1, so that when the driving connecting rod assemblies are in the initial state, the waist ring and the crotch ring are parallel to highly adapt to the standing posture of a human body.
In this embodiment, side plates 2c are attached to the crotch ring 2 at left and right positions. As shown in the figure 1, the left crotch ring 2a and the right crotch ring 2b are respectively connected with a side plate, the side plates are laterally blocked on the crotch of the human body, so that the good man-machine matching characteristic is realized, and meanwhile, the side plates are also used as reserved positions for installing mechanical legs.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (9)
1. The utility model provides a virtual wearing formula hip joint of active bionical bull stick which characterized in that: the waist ring is used for being matched with a waist, the crotch ring is used for being matched with the crotch, and the driving connecting rod assemblies are connected between the waist ring and the crotch ring.
2. The active biomimetic multi-rod virtual wearable hip joint according to claim 1, characterized in that: the driving telescopic rod comprises an outer barrel, an inner rod and a telescopic driving piece, wherein the inner rod is sleeved in the outer barrel in an axially telescopic mode, the telescopic driving piece is arranged in the outer barrel and used for driving the inner rod to stretch, the end portions of the outer barrel and the inner rod are respectively provided with a connecting end, and the two connecting ends are respectively used as the upper end and the lower end of the driving telescopic rod.
3. The active biomimetic multi-rod virtual wearable hip joint according to claim 1, characterized in that: the crotch ring comprises a left half crotch ring and a right half crotch ring, wherein the left half crotch ring and the right half crotch ring are in C-shaped structures and used for conformal surrounding on the left side and the right side of the crotch.
4. The active biomimetic multi-rod virtual wearable hip joint according to claim 1, characterized in that: the waist ring comprises a waistband and a plurality of mounting sections fixed on the waistband, and the upper hinge head is rotatably mounted on the mounting sections.
5. The active biomimetic multi-rod virtual wearable hip joint according to claim 3, characterized in that: the two groups of driving connecting rod assemblies are respectively connected between the waist ring and the left half crotch ring and between the waist ring and the right half crotch ring.
6. The active biomimetic multi-rod virtual wearable hip joint according to claim 4, characterized in that: the waist ring further comprises a lock catch, and the lock catch is arranged on the waistband and used for adjusting the tightness of the waistband.
7. The active biomimetic multi-rod virtual wearable hip joint according to claim 5, characterized in that: each group of driving connecting rod assemblies at least comprises six driving connecting rod assemblies, the two groups of driving connecting rod assemblies are annularly arranged around the waist ring, and every two adjacent driving connecting rod assemblies are arranged in a V shape.
8. The active biomimetic multi-rod virtual wearable hip joint according to claim 7, characterized in that: each active link assembly is of a length such that the waist and crotch rings are parallel in an initial state.
9. The active biomimetic multi-rod virtual wearable hip joint according to claim 1, characterized in that: side plates are connected to the positions, on the left side and the right side, below the crotch ring.
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| CN202110927116.XA CN113771002B (en) | 2021-08-12 | 2021-08-12 | Active bionic multi-rod virtual wearable hip joint |
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| CN202110927116.XA CN113771002B (en) | 2021-08-12 | 2021-08-12 | Active bionic multi-rod virtual wearable hip joint |
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