CN113771007B - Moment-adjustable passive joint device for exoskeleton robot - Google Patents
Moment-adjustable passive joint device for exoskeleton robot Download PDFInfo
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- CN113771007B CN113771007B CN202111012606.3A CN202111012606A CN113771007B CN 113771007 B CN113771007 B CN 113771007B CN 202111012606 A CN202111012606 A CN 202111012606A CN 113771007 B CN113771007 B CN 113771007B
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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
- B25J17/02—Wrist joints
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Abstract
The invention discloses a moment-adjustable passive joint device for an exoskeleton robot. Comprises a lower connecting rod, an upper connecting rod, a power storage box and an adjusting cover; one end of the lower connecting rod and one end of the upper connecting rod are connected with the transmission shaft, and the other ends of the lower connecting rod and the upper connecting rod are respectively connected with limbs at two ends of the joint; the power storage box comprises a volute spring and a pawl and ratchet mechanism, and the adjusting cover comprises an adjusting cover main body and an adjusting cover safety guard; when the safety of the adjusting cover is closed, the ratchet wheel and the pawl are in an engaged state, the adjusting cover drives the ratchet wheel to rotate according to the motion direction of the pawl and ratchet mechanism, and the torque of a driven joint is increased; when the safety of the adjusting cover is opened, the main body of the adjusting cover is pressed, the ratchet wheel and the pawl are in a separation state, and the volute spring automatically rotates reversely through self pretightening force to reduce torque. The invention has simple and convenient use, easy adjustment, strong function and high modularization degree, can be used for passive exoskeleton joints or passive joints of active exoskeleton and can effectively simplify the design and manufacture of the exoskeleton robot.
Description
Technical Field
The invention belongs to the field of exoskeleton robots, and particularly relates to a torque-adjustable passive joint device for an exoskeleton robot.
Background
The rapid progress of the scientific revolution and the industrial revolution promotes the rapid rise and development of the exoskeleton industry, and the exoskeleton assistance system is widely applied to military and civil fields. Joint devices are among the most important devices in exoskeleton systems and even foot-type robotic systems. Currently, exoskeleton power-assisted systems can be divided into active driving type exoskeleton power-assisted systems and passive exoskeleton power-assisted systems according to whether a joint device has energy-free power driving. The joint devices of the active driving type exoskeleton assisting system are limited by the existing battery technology, and cannot provide energy durably, so that the system is influenced to be used continuously in the field. As a novel power assisting system, the passive exoskeleton power assisting system is designed in a light weight mode, does not need external energy, utilizes a mechanical structure and a human body movement load principle, transfers the load of a human body to a reasonable position or the ground on the body, and can assist a wearer in loading equipment without influencing the action of the wearer. Most joint devices of passive exoskeleton power-assisted systems have energy storage and release functions, redundant energy generated during self-movement is used as an energy source for power assistance, and some active driving type exoskeletons use the passive exoskeleton power-assisted joint devices at certain joints for saving energy at present.
Passive passive exoskeletons are designed and manufactured by a plurality of companies in China, most products are provided with energy storage devices at joints to realize passive assistance during movement, the energy storage devices are generally realized by using elastic elements, and the elasticity of the energy storage devices needs to be properly adjusted under the conditions of different physical conditions, different working environments and different loads of users. At present, most of the existing energy storage devices at the passive exoskeleton joints are complex and difficult to adjust, or the elasticity cannot be adjusted.
In the invention patent with the patent number CN112356013A, a passive energy-storable elbow joint assisting exoskeleton is disclosed, in which three switches are used to switch the assisting modes, but the elastic elements corresponding to each assisting mode have the same elasticity, but different directions and action intervals, and cannot adapt to users with different physical conditions, and the working conditions corresponding to the assisting modes are only suitable for elbow joints, and cannot be expanded to other limb joints of the exoskeleton.
In patent No. CN112276913A, a passive exoskeleton hip joint torque adjustable device is disclosed, in which the elastic force of an elastic element can be adjusted by an adjusting knob, but its internal wheel train structure is complex and integrated with the whole waist and thigh, and the parts are easily damaged and not easily replaced.
Disclosure of Invention
The invention aims to provide a moment-adjustable passive joint device for an exoskeleton robot, which solves the problem that the existing passive exoskeleton joint elastic moment is inconvenient to adjust.
The technical solution for realizing the purpose of the invention is as follows: a torque-adjustable passive joint device for an exoskeleton robot comprises a lower connecting rod, an upper connecting rod, a force storage box and an adjusting cover;
one end of the lower connecting rod and one end of the upper connecting rod are connected with the transmission shaft, and the other ends of the lower connecting rod and the upper connecting rod are respectively connected with limbs at two ends of the joint, so that the joint device is assembled on the exoskeletal robot; wherein the lower connecting rod is connected with the transmission shaft and synchronously rotates, and the upper connecting rod is connected with the transmission shaft through a bearing;
the power storage box comprises a volute spring and a pawl and ratchet mechanism, and the adjusting cover comprises an adjusting cover main body and an adjusting cover safety guard;
when the adjusting cover is closed, the adjusting cover main body can only rotate, a ratchet wheel and a pawl of the pawl ratchet mechanism are in an engaged state, and the adjusting cover drives the ratchet wheel to rotate according to the motion direction of the pawl ratchet mechanism, so that the volute spring is tightened, and the torque of a driven joint is increased; when the safety of the adjusting cover is opened, the adjusting cover body can rotate and can move up and down, the adjusting cover body is pressed, the ratchet wheel and the pawl are in a separation state, and the spiral spring automatically rotates reversely through self pretightening force to reduce torque.
Furthermore, the power storage box also comprises a power storage box shell, a volute spring tray, a volute spring mandrel, a ratchet shaft, a power storage box cover and a pawl reset spring;
the upper connecting rod is provided with a groove, a bulge is arranged below the power storage box shell, and the bulge below the power storage box shell is clamped in the groove on the upper connecting rod and is detachably and fixedly connected with the upper connecting rod;
the lower part of the spiral spring tray is provided with a bulge, the periphery of the bulge of the spiral spring tray is connected with the inner periphery of a bulge below the power storage box shell through a bearing, and a square groove is arranged in the bulge of the spiral spring tray, is connected with a transmission shaft through the square groove and realizes synchronous rotation;
one end of the volute spring is fixed on the volute spring mandrel, and the other end of the volute spring is fixed on the protruding edge of the volute spring tray;
the middle part of the ratchet wheel is provided with a square groove, and the square groove is used for realizing the matching and synchronous rotation with the ratchet wheel shaft, the ratchet wheel is fixed on the ratchet wheel shaft through a snap spring, the ratchet wheel shaft is matched with the snap spring and the power storage box cover through a bearing, the lower end of the ratchet wheel shaft is provided with the square groove and is matched with a worm spring mandrel through the square groove, and the power storage box cover is connected with the power storage box shell through a bolt; the pawl is installed on the power storage box cover, one end of the pawl reset spring is installed on the power storage box cover, and the other end of the pawl reset spring is installed on the pawl.
Furthermore, the upper connecting rod is rotated relative to the force transmission shaft through the bearing, the upper connecting rod comprises an upper connecting plate and a lower connecting plate, an upper connecting rod end cover used for fixing the bearing is arranged on one side of the lower connecting plate, and a limiting mechanism used for limiting the lower connecting rod is arranged between the upper connecting plate and the lower connecting plate.
Furthermore, the limit mechanism enables the rotation range of the lower connecting rod relative to the upper connecting rod to be less than 130-150 degrees.
Furthermore, the adjusting cover main body is connected with the power storage box through a square groove and a pin hole on the inner side of the adjusting cover main body and synchronously rotates with the ratchet shaft;
the side surface of the adjusting cover main body is provided with an I-shaped groove, and the safety of the adjusting cover is inserted into the I-shaped groove to be matched with the adjusting cover main body.
Furthermore, a spring for assisting the return of the ratchet wheel is arranged in the square groove at the lower end of the ratchet shaft.
Furthermore, the lower surface of the power storage box cover is provided with a pawl limiting structure which prevents the ratchet from being disengaged from the pawl and then the ratchet cannot be meshed with the pawl again, and a rubber cushion pad is arranged on the position, contacted with the pawl limiting structure, of the pawl.
Furthermore, a scroll spring protection boss for preventing the vertical movement of a scroll spring is arranged on the lower surface of the power storage box cover, and a lightening hole is formed in the center of the boss;
the side edge of the scroll spring tray is provided with a scroll spring protection boss for preventing the scroll spring from contacting and rubbing with the power storage box shell, and the scroll spring protection boss and the protruding edge on the scroll spring tray are uniformly arranged in the circumferential direction of the scroll spring tray.
Furthermore, chamfers are arranged on the upper surface of the ratchet wheel and the lower surface of the pawl, and the chamfers are used for ensuring that the ratchet wheel can be matched with the ratchet wheel again by virtue of a spring in the ratchet wheel shaft after axial movement of the ratchet wheel is separated from matching with the pawl.
Furthermore, the upper part of the I-shaped groove of the adjusting cover main body is provided with a pin hole for preventing the safety of the adjusting cover from falling off.
Compared with the prior art, the invention has the remarkable advantages that:
(1) according to the invention, the adjusting cover can only rotate in one direction when not pressed down through the ratchet mechanism, the elastic moment of the spiral spring can be directly increased by twisting the adjusting cover, the moment can be automatically and reversely rotated through the self pretightening force after the adjusting cover is pressed down, the adjusting method is simple and convenient, the elastic moment can be adjusted at any time by only twisting or pressing the adjusting cover without taking off the exoskeleton, and the convenience is greatly improved compared with most existing exoskeleton devices which can adjust the joint moment only by disassembling.
(2) The passive exoskeleton is compact in structure and contributes to realizing the light weight design requirement of the passive exoskeleton.
(3) The exoskeleton device has high modularization degree, the power storage box and the upper connecting rod are positioned through the boss of the power storage box and the groove of the upper connecting rod, the power storage box and the upper connecting rod are fixed by only one bolt, the power storage box is convenient to disassemble, a joint formed by the upper connecting rod and the lower connecting rod can still be used after the power storage box is disassembled, and the exoskeleton device has greatly improved reliability compared with the exoskeleton device in which the whole device cannot continue to work after most of the existing single joint power assisting devices are damaged.
(4) The invention is provided with a safety device, and the change of the elastic force moment of the volute spring caused by the collision or friction of the outside on the adjusting cover is not easy to happen.
Drawings
Fig. 1 is a schematic external overall front view of a moment adjustable passive joint device for an exoskeleton robot according to the present invention.
Fig. 2 is a schematic view of the external whole back of the moment adjustable passive joint device for the exoskeleton robot in accordance with the present invention.
Fig. 3 is a schematic cross-sectional view of a moment adjustable passive joint arrangement for an exoskeleton robot in accordance with the present invention.
FIG. 4 is a schematic view of the internal shafting of the power storage case of the present invention.
FIG. 5 is an assembled view of the components of the cover end portion of the power storage case inside the power storage case of the present invention.
FIG. 6 is a schematic view of the safety state of the adjusting cover according to the present invention; wherein (a) is an outside schematic view and (b) is an inside schematic view.
FIG. 7 is a schematic view of the open safety state of the regulator cap according to the present invention; wherein (a) is an outside schematic view and (b) is an inside schematic view.
FIG. 8 is a sectional view of the power storage case showing the engagement state of ratchet and pawl.
FIG. 9 is a cross-sectional view of the power storage case showing the ratchet and pawl in a staggered configuration.
Description of the reference numerals:
1-lower connecting rod, 2-power storage box, 3-adjusting cover, 4-upper connecting rod, 1-1-lower connecting rod body, 1-2-transmission shaft, 2-1-power storage box shell, 2-2-volute spring tray, 2-3-volute spring, 2-4-volute spring mandrel, 2-5-ratchet wheel, 2-6-ratchet wheel shaft, 2-7-power storage box cover, 2-8-pawl, 2-9-pawl reset spring, 3-1-adjusting cover body, 3-2-adjusting cover safety, 4-1-upper connecting rod body and 4-2-upper connecting rod end cover.
Detailed Description
The technical scheme of the invention is described in detail, clearly and completely in the following description in combination with the attached drawings and specific examples.
Referring to fig. 1-3, a moment adjustable passive joint device for an exoskeleton robot comprises a lower connecting rod 1, a force storage box 2, an adjusting cover 3 and an upper connecting rod 4.
The lower connecting rod 1 and the power storage box 2 are connected with a square hole on a volute spring tray 2-2 in the power storage box 2 through a square spline part on a transmission shaft 1-2 in the lower connecting rod 1, and the volute spring tray 2-2 and the lower connecting rod 1 rotate synchronously. The lower connecting rod 1 and the upper connecting rod 4 are matched with a transmission shaft 1-2 in the lower connecting rod 1 through a bearing fixed in the upper connecting rod 4, and an upper connecting rod end cover 4-2 in the upper connecting rod 4 is used for fixing the bearing in the upper connecting rod. The power storage box 2 and the upper connecting rod 4 are positioned with a counter bore on the upper connecting rod body 4-1 through a boss on the power storage box shell 2-1 and are fixed through a bolt. The power storage box 2 and the adjusting cover 3 are matched with a square hole on the adjusting cover main body 3-1 through a square spline on a ratchet shaft 2-6 in the power storage box 2 and are fixed through a long pin, so that the ratchet shaft 2-6 and the adjusting cover 3 can synchronously rotate.
Wherein, the lower connecting rod 1 and the upper connecting rod 4 are both provided with mounting holes for fixing the exoskeleton robot with limbs.
Wherein, the upper connecting rod 4 is provided with a limiting mechanism, namely, the rotating range of motion of the lower connecting rod 1 relative to the upper connecting rod 4 is only 130 degrees.
Referring to fig. 3, 4 and 5, the power storage box 2 comprises a power storage box shell 2-1, a volute spring tray 2-2, a volute spring 2-3, a volute spring mandrel 2-4, a ratchet 2-5, a ratchet shaft 2-6, a power storage box cover 2-7, a pawl 2-8 and a pawl reset spring 2-9.
Wherein, the bottom of the power storage box shell 2-1 is fixed on the upper connecting rod 4 through a bolt hole, and the bottom of the power storage box shell 2-1 is provided with a bearing; the volute spring tray 2-2 is matched with a bearing at the bottom of the power storage box shell 2-1 through a boss at the bottom, and the volute spring tray 2-2 is matched with a transmission shaft 1-1 in the lower connecting rod 1 through a square groove on the boss at the bottom and synchronously rotates; one end of the volute spring 2-3 is fixed on the protruding edge of the volute spring tray 2-2, and the other end of the volute spring is fixed on the volute spring mandrel 2-4; a square groove is formed in the middle of the ratchet wheel 2-5, the ratchet wheel 2-5 is matched with the ratchet wheel shaft 2-6 through the square groove to realize synchronous rotation, and the ratchet wheel 2-5 is fixed on the ratchet wheel shaft 2-6 through a clamp spring; the ratchet shaft 2-6 is matched with the clamp spring and the power storage box cover 2-7 through a bearing, and the lower end of the ratchet shaft 2-6 is provided with a square groove and is matched with the scroll spring mandrel 2-4 through the square groove; the power storage box cover 2-7 is connected with the power storage box shell 2-1 through a bolt; the pawl 2-8 is arranged on the power storage box cover 2-7 and forms a group of ratchet mechanisms together with the ratchet 2-5; one end of a pawl return spring 2-9 is arranged on the power storage box cover 2-7, and the other end is arranged on the pawl 2-8.
Wherein, the spring is arranged in the square groove at the lower end of the ratchet shaft 2-6 and is used for assisting the ratchet 2-5 to be meshed with the pawl 2-8 again when the ratchet 2-5 is separated from the pawl 2-8.
The inner side of the power storage box cover 2-7 is provided with a pawl limiting structure for preventing the pawl 2-8 from being pulled by a pawl reset spring 2-9 after the ratchet 2-5 is separated from the pawl 2-8, so that the ratchet 2-5 cannot be meshed with the pawl 2-8 again; the parts of the pawls 2-8, which are contacted with the pawl limiting structure, are provided with rubber buffer pads.
Wherein, chamfers are arranged on the upper side of the ratchet wheel 2-5 and the lower side of the pawl 2-8 for ensuring that the ratchet wheel 2-5 can be matched with the ratchet wheel 2-8 again by a spring in the ratchet wheel shaft 2-7 after the axial movement is separated from the pawl 2-8.
Wherein, the inner side of the power storage box cover 2-7 is provided with two scroll spring protection bosses for preventing the scroll springs 2-3 from moving vertically, and the centers of the bosses are hollowed to reduce weight.
Referring to fig. 3, 6 and 7, the adjustment cover 3 includes an adjustment cover main body 3-1, an adjustment cover protector 3-2; wherein, the adjusting cover main body 3-1 is connected with the power storage box 2 through a square groove and a pin hole on the inner side of the adjusting cover main body and synchronously rotates with the ratchet shaft 2-6; an I-shaped groove is formed in the side face of the adjusting cover main body 3-1, and the adjusting cover fuse 3-2 is inserted into the I-shaped groove to be matched with the adjusting cover main body.
The adjusting cover safety is used for preventing the change of the elastic moment of the spiral spring 2-3 caused by the collision or friction of the outside on the adjusting cover 3 when the joint is used.
The upper part of the I-shaped groove of the adjusting cover main body 3-1 is provided with a pin hole for preventing the adjusting cover fuse 3-2 from falling off, and the adjusting cover fuse 3-2 can be prevented from being completely separated from the adjusting cover main body by inserting a long pin after being installed.
Referring to fig. 6 and 7, the adjusting cover 3 has two states, the first state is the push-back adjusting cover fuse 3-2 shown in fig. 6, the adjusting cover 3 is in the closed fuse state, and at this time, because the distance between the stop block at the end of the adjusting cover fuse 3-2 and the power storage box cover 2-7 is too close, the adjusting cover 3 cannot be pressed down; in the second state, namely the push-out adjusting cover fuse 3-2 shown in fig. 7, the adjusting cover 3 is opened, at this time, the stop block at the tail end of the adjusting cover fuse 3-2 cannot be contacted with the power storage box cover 2-7, and the adjusting cover 3 can be pressed down;
referring to fig. 8 and 9, the power storage box 2 has two states, the first state is the state that the adjusting cover 3 shown in fig. 8 is not pressed, at this time, the ratchet 2-5 and the pawl 2-8 are in the engaged state, the adjusting cover 3 can only rotate in the movement direction of the ratchet mechanism, i.e. the worm spring mandrel 2-4 is driven to rotate in the direction of increasing the spring force of the worm spring; in the second state, the adjusting cover 3 is pressed down as shown in fig. 9, and the ratchet 2-5 and the pawl 2-8 are in the disengaged state, the adjusting cover 3 can rotate freely.
Claims (1)
1. The moment-adjustable passive joint device for the exoskeleton robot is characterized by comprising a lower connecting rod (1), an upper connecting rod (4), a power storage box (2) and an adjusting cover (3);
one end of the lower connecting rod (1) and one end of the upper connecting rod (4) are connected with the transmission shafts (1-2), and the other ends of the lower connecting rod and the upper connecting rod are respectively connected with limbs at two ends of the joint, so that the joint device is assembled on the exoskeleton robot; wherein the lower connecting rod (1) is connected with the transmission shaft (1-2) and synchronously rotates, and the upper connecting rod (4) is connected with the transmission shaft (1-2) through a bearing;
the power storage box (2) comprises a volute spring (2-3) and a pawl and ratchet mechanism, and the adjusting cover (3) comprises an adjusting cover main body (3-1) and an adjusting cover safety device (3-2);
when the safety of the adjusting cover is closed, the adjusting cover main body can only rotate, the ratchet wheels (2-5) and the pawls (2-8) of the pawl ratchet mechanism are in a meshed state, and the adjusting cover drives the ratchet wheels to rotate along the motion direction of the pawl ratchet mechanism, so that the volute springs (2-3) are tightened, and the torque of a driven joint is increased; when the safety of the adjusting cover is opened, the adjusting cover body can rotate and can move up and down, the adjusting cover body is pressed, the ratchet wheel and the pawl are in a separation state, and the volute spring (2-3) automatically rotates reversely through self pretightening force to reduce torque;
the power storage box (2) further comprises a power storage box shell (2-1), a volute spring tray (2-2), a volute spring mandrel (2-4), a ratchet shaft (2-6), a power storage box cover (2-7) and a pawl reset spring (2-9);
a groove is formed in the upper connecting rod (4), a bulge is arranged below the power storage box shell (2-1), and the bulge arranged below the power storage box shell (2-1) is clamped in the groove in the upper connecting rod (4) and is detachably and fixedly connected with the upper connecting rod (4);
the lower part of the volute spring tray (2-2) is provided with a bulge, the periphery of the bulge of the volute spring tray (2-2) is connected with the inner periphery of a bulge below the power storage box shell (2-1) through a bearing, and a square groove is arranged in the bulge of the volute spring tray (2-2) and is connected with the transmission shaft (1-2) through the square groove to realize synchronous rotation;
one end of the volute spring (2-3) is fixed on the volute spring mandrel (2-4), and the other end of the volute spring is fixed on the protruding edge of the volute spring tray (2-2);
a square groove is formed in the middle of the ratchet wheel (2-5), the ratchet wheel (2-5) is matched with the ratchet wheel shaft (2-6) through the square groove and synchronously rotates, the ratchet wheel (2-5) is fixed on the ratchet wheel shaft (2-6) through a clamp spring, the ratchet wheel shaft (2-6) is matched with the force storage box cover (2-7) through a bearing and the clamp spring, the square groove is formed in the lower end of the ratchet wheel shaft (2-6) and matched with the worm spring mandrel (2-4) through the square groove, and the force storage box cover (2-7) is connected with the force storage box shell (2-1) through a bolt; the pawl (2-8) is arranged on the power storage box cover (2-7), one end of a pawl reset spring (2-9) is arranged on the power storage box cover (2-7), and the other end of the pawl reset spring is arranged on the pawl (2-8);
the upper connecting rod (4) rotates relative to the force transmission shaft (1-2) through a bearing, the upper connecting rod (4) comprises an upper connecting plate and a lower connecting plate, an upper connecting rod end cover (4-2) for fixing the bearing is arranged on one side of the lower connecting plate, and a limiting mechanism for limiting the lower connecting rod (1) is arranged between the upper connecting plate and the lower connecting plate;
the limiting mechanism enables the rotation range of the lower connecting rod (1) relative to the upper connecting rod (4) to be less than 130 degrees and 150 degrees; the adjusting cover main body (3-1) is connected with the power storage box (2) through a square groove and a pin hole on the inner side of the adjusting cover main body and synchronously rotates with the ratchet shaft (2-6);
an I-shaped groove is formed in the side face of the adjusting cover main body (3-1), and the adjusting cover fuse (3-2) is inserted into the I-shaped groove to be matched with the adjusting cover main body; a spring for assisting the return of the ratchet wheel is arranged in the square groove at the lower end of the ratchet shaft (2-6);
the lower surface of the power storage box cover (2-7) is provided with a pawl limiting structure which prevents the ratchet wheel from being meshed with the pawl again after the ratchet wheel is separated from the pawl, and a rubber cushion pad is arranged on the part of the pawl (2-8) which is contacted with the pawl limiting structure;
the lower surface of the power storage box cover (2-7) is provided with a scroll spring protection boss for preventing the scroll spring (2-3) from moving vertically, and the center of the boss is provided with a lightening hole;
a volute spring protection boss for preventing the volute spring (2-3) from being in contact friction with the power storage box shell (2-1) is arranged on the side edge of the volute spring tray (2-2), and the volute spring protection boss and the protruding edge on the volute spring tray are uniformly arranged in the circumferential direction of the volute spring tray (2-2);
chamfers are arranged on the upper surface of the ratchet wheel (2-5) and the lower surface of the pawl (2-8) and used for ensuring that the ratchet wheel (2-5) can be matched with the ratchet wheel (2-8) again by virtue of a spring in the ratchet wheel shaft (2-7) after axial movement is disengaged from the pawl (2-8);
the upper part of the I-shaped groove of the adjusting cover main body (3-1) is provided with a pin hole for preventing the adjusting cover fuse (3-2) from falling off.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111012606.3A CN113771007B (en) | 2021-08-31 | 2021-08-31 | Moment-adjustable passive joint device for exoskeleton robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111012606.3A CN113771007B (en) | 2021-08-31 | 2021-08-31 | Moment-adjustable passive joint device for exoskeleton robot |
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| CN113771007A CN113771007A (en) | 2021-12-10 |
| CN113771007B true CN113771007B (en) | 2022-07-22 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105105766A (en) * | 2015-09-29 | 2015-12-02 | 德莫德（苏州）机械科技有限公司 | Baby heel hemostix |
| CN107361999A (en) * | 2017-08-28 | 2017-11-21 | 哈尔滨理工大学 | A kind of walking healing and training shoulder joint mechanism |
| CN108332622A (en) * | 2018-01-19 | 2018-07-27 | 林文胜 | A kind of throwing bullet that comprehensive shock is opened |
| CN111745624A (en) * | 2020-06-30 | 2020-10-09 | 电子科技大学 | Exoskeleton load-bearing robot with passive power assistance |
| CN112904588A (en) * | 2021-01-28 | 2021-06-04 | 甘路飞 | Glasses with glasses legs with adjustable angles |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10195736B2 (en) * | 2015-07-17 | 2019-02-05 | Lockheed Martin Corporation | Variable force exoskeleton hip joint |
-
2021
- 2021-08-31 CN CN202111012606.3A patent/CN113771007B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105105766A (en) * | 2015-09-29 | 2015-12-02 | 德莫德（苏州）机械科技有限公司 | Baby heel hemostix |
| CN107361999A (en) * | 2017-08-28 | 2017-11-21 | 哈尔滨理工大学 | A kind of walking healing and training shoulder joint mechanism |
| CN108332622A (en) * | 2018-01-19 | 2018-07-27 | 林文胜 | A kind of throwing bullet that comprehensive shock is opened |
| CN111745624A (en) * | 2020-06-30 | 2020-10-09 | 电子科技大学 | Exoskeleton load-bearing robot with passive power assistance |
| CN112904588A (en) * | 2021-01-28 | 2021-06-04 | 甘路飞 | Glasses with glasses legs with adjustable angles |
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| CN113771007A (en) | 2021-12-10 |
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