CN115972182A - Purely passive load-bearing exoskeleton robot and design method thereof - Google Patents
Purely passive load-bearing exoskeleton robot and design method thereof Download PDFInfo
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- CN115972182A CN115972182A CN202310155797.1A CN202310155797A CN115972182A CN 115972182 A CN115972182 A CN 115972182A CN 202310155797 A CN202310155797 A CN 202310155797A CN 115972182 A CN115972182 A CN 115972182A
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- 238000013461 design Methods 0.000 title claims abstract description 13
- 238000000034 method Methods 0.000 title claims abstract description 9
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 40
- 239000004917 carbon fiber Substances 0.000 claims description 40
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 40
- 239000004677 Nylon Substances 0.000 claims description 11
- 229920001778 nylon Polymers 0.000 claims description 11
- 230000005021 gait Effects 0.000 claims description 7
- 238000001125 extrusion Methods 0.000 claims description 6
- 210000003423 ankle Anatomy 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 claims description 3
- 229960001030 mephenoxalone Drugs 0.000 claims description 3
- 238000007796 conventional method Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 210000005239 tubule Anatomy 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003863 physical function Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The invention provides a design method of a purely passive load-bearing exoskeleton robot, which is used for transferring a load to the ground by utilizing the design of a clutch mechanism, can effectively reduce the influence of an external load on a human body, can be applied to the situations of load-bearing marching, fire rescue and the like, and has a wider application prospect.
Description
Technical Field
The invention relates to an exoskeleton robot which can be used for requiring a human body to carry out long-time and long-distance load movement, can be applied to activities such as load marching, fire rescue and the like, and avoids the phenomenon that the human body is fatigued earlier due to long-time load walking.
Background
Under the background of rapid development of world science and technology and more serious aging in China, scientists propose an exoskeleton concept, namely a wearable device for assisting rehabilitation or providing additional power for people to enhance physical functions, in the military field, as equipment required by soldiers is more perfect, the load bearing capacity of the soldiers becomes an important index more and more, so that the single-soldier load bearing exoskeleton is always a research hotspot of high-end equipment in the military field in recent years, and through an exoskeleton robot, the soldiers can maintain physical strength during long-distance long-time combat, easily complete the task of carrying military equipment and enhance the combat force of the soldiers by times. At present, military exoskeleton robots are developed in many countries, so that the combat power of soldiers is increased.
At present, the exoskeleton robot adopts a motor driving mode mostly for load bearing, the energy consumed by the mode is large, and the mass of the whole exoskeleton robot is large due to the high power of the motor. In order to improve the flexibility of the exoskeleton robot, extensive research is carried out on passive exoskeleton at home and abroad and certain results are obtained, but various problems of incapability of realizing natural gait, insufficient load bearing capacity and the like still exist
Disclosure of Invention
The invention provides a purely passive load-bearing exoskeleton robot and a design method thereof for solving the technical problems in the prior art, and aims to solve the problems in the prior art.
The technical scheme adopted for realizing the purpose of the invention is as follows: the pure passive type load-bearing exoskeleton robot is characterized by mainly comprising a backpack, legs, a clutch mechanism and heel accessories, wherein the backpack of the load-bearing exoskeleton robot mainly comprises a carbon fiber back plate, a carbon fiber bottom plate and nylon binding bands, the carbon fiber back plate is connected in series through the nylon binding bands, and the nylon binding bands are connected to the shoulders and the waist of a human body. The carbon fiber bottom plate of the loading exoskeleton backpack is connected with the carbon fiber back plate through threaded connection and is used for bearing a heavy object.
The legs of the load-bearing exoskeleton robot mainly comprise carbon fiber tubes, and the length of the legs is mainly changed by up-and-down sliding of the relative positions of the carbon fiber thin tubes with small diameters in the carbon fiber thick tubes with large diameters.
The backpack and the legs of the loading exoskeleton robot are vertically composed of universal couplings and circular convex rods, and the carbon fiber back plate of the backpack of the loading exoskeleton robot is allowed to rotate.
The legs and the heel accessories of the load-bearing exoskeleton robot are connected, and the moving range of the thin tubes is limited by connecting stop blocks at two sides of the bottom of the carbon fiber thin tubes.
After the characteristics of human gait walking are comprehensively considered, the biggest bright point of the design of the load-bearing exoskeleton robot is as follows: unlike the prior art which uses a motor to carry the load, the exoskeleton robot adopts a purely passive method, the whole design is free from the gait limitation of the human body to a certain extent, and a clutch mechanism is used for transmitting the load weight to the ground. The clutch mechanism is positioned in the leg structure of the load-bearing exoskeleton robot and consists of a cam, a push rod, a track tube, a carbon fiber thin tube, a limiting rod and a return spring. The clutch mechanism of the load-bearing exoskeleton robot transfers clockwise rotation torque to a single cam through the movement of the push rod on the track pipe until the stop lever is touched, the other cam transfers anticlockwise rotation torque, the cams on two sides are in contact with the carbon fiber thick pipe with a larger diameter to generate extrusion, larger friction force is generated through the extrusion force, the weight of a load is transferred to the push rod of the clutch mechanism of the load-bearing exoskeleton robot, and finally the load is transferred to the ground through the return spring rod.
The heel accessories of the weight-bearing exoskeleton robot are connected to the instep of a user mainly through a sole connecting side plate and a nylon binding band, and the heel accessories are connected to the lower ends of the exoskeleton legs through heel rotating shafts to allow the user to freely dorsiflex or plantar flex the ankle.
Drawings
Fig. 1 is an external view of the present invention.
Fig. 2 is a structural diagram of a load-bearing exoskeleton robot backpack.
Fig. 3 is a structural view of the clutch mechanism.
Fig. 4 is a structural view of the heel attachment.
The parts in the figures are numbered as follows:
FIG. 1:1.1 backpack structure, 1.2 leg structure, 1.3 heel accessories
FIG. 2:2.1, a carbon fiber bottom plate, 2.2, a control box, 2.3, a nylon bandage, 2.4, a carbon fiber back plate, 2.5, a circular convex rod, 2.6, a universal coupling, 2.7 and a carbon fiber thick pipe
FIG. 3:3.1, a push rod, 3.2, a limiting rod, 3.3, a cam, 3.4, a cam shaft, 3.5, a track pipe, 3.6 and a carbon fiber thin pipe.
FIG. 4:4.1, a return spring, 4.2, 1,4.3 return spring rods, 4.4 heel rotating shafts and 4.4 sole connecting side plates.
Detailed description of the preferred embodiments
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings.
Referring to fig. 1 and 2, a purely passive loading exoskeleton robot and a design method thereof are characterized in that the loading exoskeleton robot mainly comprises a backpack 1.1, legs 1.2, a clutch mechanism and heel accessories 1.3, the backpack of the loading exoskeleton robot mainly comprises a carbon fiber back plate 2.1, a carbon fiber bottom plate 2.4 and a nylon bandage 2.3, the carbon fiber back plate 2.1 is connected in series through the nylon bandage 2.3 and is connected to the shoulders and waist of a human body. The carbon fiber bottom plate 2.4 of the loading exoskeleton backpack is connected with the carbon fiber back plate 2.1 through threaded connection and is used for bearing a heavy object.
Referring to fig. 2 and 3, the legs of the exoskeleton robot mainly consist of carbon fiber tubes, and the length of the legs is mainly changed by up-and-down sliding of the relative positions of carbon fiber thin tubes 3.6 with small diameters in carbon fiber thick tubes 2.7 with large diameters.
Referring to fig. 1 and 2, the backpack 1.1 and the leg 1.2 of the load-bearing exoskeleton robot are vertically composed of a universal joint 2.6 and a round convex rod 2.5, and the carbon fiber back plate 2.4 of the backpack 1.1 of the load-bearing exoskeleton robot is allowed to rotate.
Referring to fig. 1, 3 and 4, a leg 1.2 of the load-bearing exoskeleton robot is connected with a heel accessory 1.3, and the movement range of a carbon fiber tubule 3.6 is limited by a bilateral connecting stop 4.5 at the bottom of the tubule.
Referring to fig. 1, 2, 3 and 4, after the characteristics of human gait walking are considered, the biggest design points of the weight-bearing exoskeleton robot are as follows: unlike the prior art which uses a motor to carry the load, the exoskeleton robot adopts a purely passive method, the whole design is free from the gait limitation of the human body to a certain extent, and a clutch mechanism is used for transmitting the load weight to the ground. The clutch mechanism is located inside a leg structure 1.2 of the load-bearing exoskeleton robot and consists of a cam 3.3, a push rod 3.1, a track tube 3.5, a carbon fiber thin tube 3.6, a limiting rod 3.2 and a return spring 4.1. The clutch mechanism of the load-bearing exoskeleton robot transfers clockwise rotation torque to a single cam 3.3 through the movement of a push rod on a track pipe 3.2 until the stop lever 3.2 is touched, the other cam 3.3 transfers anticlockwise rotation torque, the cams 3.3 on two sides are in contact with a carbon fiber thick pipe 2.7 with a large diameter to generate extrusion, large friction force is generated through extrusion force, the weight of a load is transferred to the push rod 3.1 of the clutch mechanism of the load-bearing exoskeleton robot, and finally the load is transferred to the ground through a return spring rod 4.2.
Referring to fig. 1 and 4, the heel accessory 1.3 of the weight-bearing exoskeleton robot is connected to the instep of a user mainly through a sole connecting side plate 4.4 and a nylon strap. The heel attachment 1.3 is connected to the lower end of the exoskeleton leg 1.2 by a heel rotation shaft 4.3, allowing the user to dorsiflex or plantar flex the ankle freely.
Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, it is not to be understood that the scope of the above-described subject matter is limited to the above-described embodiments. Various substitutions and alterations can be made without departing from the technical idea of the invention and the scope of the invention is covered by the present invention according to the common technical knowledge and the conventional means in the field.
Claims (6)
1. A purely passive load-bearing exoskeleton robot and a design method thereof are characterized in that the load-bearing exoskeleton robot mainly comprises a backpack, legs, a clutch mechanism and heel accessories. The backpack of the load-bearing exoskeleton robot mainly comprises a carbon fiber back plate, a carbon fiber bottom plate and a nylon bandage, wherein the carbon fiber back plate is connected in series through the nylon bandage and is connected to the shoulder and the waist of a human body. The carbon fiber bottom plate of the loading exoskeleton backpack is connected with the carbon fiber back plate through threaded connection and is used for bearing a heavy object.
2. The legs of the load-bearing exoskeleton robot mainly comprise carbon fiber tubes, and the length of the legs is mainly changed by up-and-down sliding of the relative positions of the carbon fiber thin tubes with small diameters in the carbon fiber thick tubes with large diameters.
3. The backpack and the legs of the loading exoskeleton robot are vertically composed of universal couplings and circular convex rods, and the carbon fiber back plate of the backpack of the loading exoskeleton robot is allowed to rotate.
4. The legs of the load-bearing exoskeleton robot are connected with the heel accessories, and the movement range of the thin tubes is limited by connecting stop blocks at two sides of the bottoms of the carbon fiber thin tubes.
5. After the characteristics of human gait walking are comprehensively considered, the biggest bright point of the design of the load-bearing exoskeleton robot is as follows: unlike the conventional method of using a motor to carry the load, the exoskeleton robot uses a purely passive method, and the overall design is free from the gait limitation of a human body to a certain extent, and a clutch mechanism is used for transmitting the load weight to the ground. The clutch mechanism is positioned in the leg structure of the load-bearing exoskeleton robot and consists of a cam, a push rod, a track pipe, a carbon fiber thin pipe, a limiting rod and a return spring. The clutch mechanism of the load-bearing exoskeleton robot transfers clockwise rotation torque to a single cam through the movement of the push rod on the track pipe until the stop lever is touched, the other cam transfers anticlockwise rotation torque, the cams on two sides are in contact with the carbon fiber thick pipe with a larger diameter to generate extrusion, larger friction force is generated through the extrusion force, the weight of a load is transferred to the push rod of the clutch mechanism of the load-bearing exoskeleton robot, and finally the load is transferred to the ground through the return spring rod.
6. The heel accessory of the loading exoskeleton robot is connected to the instep of a user mainly through a sole connecting side plate and a nylon binding band. The heel attachments are connected to the lower ends of the exoskeleton legs through heel rotation shafts, allowing the user to dorsiflex or plantar flex the ankles freely.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310155797.1A CN115972182A (en) | 2023-02-23 | 2023-02-23 | Purely passive load-bearing exoskeleton robot and design method thereof |
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| CN202310155797.1A CN115972182A (en) | 2023-02-23 | 2023-02-23 | Purely passive load-bearing exoskeleton robot and design method thereof |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090292369A1 (en) * | 2008-05-20 | 2009-11-26 | Berkeley Bionics | Device and Method for Decreasing Energy Consumption of a Person by Use of a Lower Extremity Exoskeleton |
| CN109071116A (en) * | 2016-01-20 | 2018-12-21 | 埃克苏仿生公司 | The control mechanism and method of tool retaining arm for ectoskeleton |
| CN111745624A (en) * | 2020-06-30 | 2020-10-09 | 电子科技大学 | Exoskeleton load-bearing robot with passive power assistance |
| CN113146579A (en) * | 2021-04-20 | 2021-07-23 | 华中科技大学 | Trans-joint load supporting device based on passive variable stiffness damper |
| CN114800436A (en) * | 2017-09-07 | 2022-07-29 | 重庆市牛迪科技发展有限公司 | Exoskeleton |
| CN115488859A (en) * | 2021-06-17 | 2022-12-20 | 广州视源电子科技股份有限公司 | Active lower limb exoskeleton |
-
2023
- 2023-02-23 CN CN202310155797.1A patent/CN115972182A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090292369A1 (en) * | 2008-05-20 | 2009-11-26 | Berkeley Bionics | Device and Method for Decreasing Energy Consumption of a Person by Use of a Lower Extremity Exoskeleton |
| CN109071116A (en) * | 2016-01-20 | 2018-12-21 | 埃克苏仿生公司 | The control mechanism and method of tool retaining arm for ectoskeleton |
| CN114800436A (en) * | 2017-09-07 | 2022-07-29 | 重庆市牛迪科技发展有限公司 | Exoskeleton |
| CN111745624A (en) * | 2020-06-30 | 2020-10-09 | 电子科技大学 | Exoskeleton load-bearing robot with passive power assistance |
| CN113146579A (en) * | 2021-04-20 | 2021-07-23 | 华中科技大学 | Trans-joint load supporting device based on passive variable stiffness damper |
| CN115488859A (en) * | 2021-06-17 | 2022-12-20 | 广州视源电子科技股份有限公司 | Active lower limb exoskeleton |
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