CN201806802U - Human exoskeleton loaded walking aiding device driven by linear motor - Google Patents
Human exoskeleton loaded walking aiding device driven by linear motor Download PDFInfo
- Publication number
- CN201806802U CN201806802U CN2010205684118U CN201020568411U CN201806802U CN 201806802 U CN201806802 U CN 201806802U CN 2010205684118 U CN2010205684118 U CN 2010205684118U CN 201020568411 U CN201020568411 U CN 201020568411U CN 201806802 U CN201806802 U CN 201806802U
- Authority
- CN
- China
- Prior art keywords
- parts
- linear
- linear motor
- thigh
- shank
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The utility model relates to a wearable lower limb walking exoskeleton, in particular to a human exoskeleton loaded walking aiding device driven by a linear motor. The device comprises a back frame, a hip joint part, a thigh part, a shank part, an anklebone part, a bottom plate, a power supply, a control device, a sensor and a drive device, wherein the back frame is fixedly connected with the hip joint part, the hip joint part is movably connected with the thigh part, the thigh part is movably connected with the shank part, the shank part is movably connected with the anklebone part, the anklebone part is movably connected with the bottom plate, the power supply is communicated with the control device, the sensor is communicated with the control device, and the control device is communicated with the drive device. The human exoskeleton loaded walking aiding device driven by the linear motor is characterized in that the drive device is a linear motor drive device, one end of the linear motor drive device is in transmission connection with the thigh part, and the other end of the linear motor drive device is in transmission connection with the shank part. The product has the advantages of small volume, low energy consumption, easy control and low manufacture cost.
Description
Technical field
This utility model relates to a kind of wearable lower limb walking ectoskeleton, especially a kind of human body ectoskeleton heavy burden walking power assisting device that drives with linear electric motors.
Background technology
Existing ESD is more and more paid attention to by each field, particularly medical rehabilitation and military field as the mankind's ultimate expansion of bearing a heavy burden.Existing ESD generally is divided into type hydraulic actuator and electric rotating machine is driving.As: disclose a kind of wearable lower limb walking ectoskeleton Chinese invention patent ZL200410053695.6 number, this wearable lower limb walking ectoskeleton is to support successively by lumbar support, hip four-bar mechanism, knee four-bar mechanism, ankle four-bar mechanism and vola that polyphone constitutes.At amputation patient or amyotrophy patient, this invention can utilize the walking program of finishing in advance as auxiliary walking instrument.For general traveller or weakling, can wear this invention walking earlier, motion pose signal during by the walking of displacement transducer timing acquiring wearer, and the gait by the computer recording wearer, the gait that progressively reappears wearer then, the walking step state of imitation wearer is realized effect auxiliary or enhancing wearer walking movement ability.Use this invention can alleviate pedestrian's fatigue to a certain extent, improve the human motion limit, and strengthen the ability that human body carries the weight motion.This invention both can be used as lower extremity amputation patient or amyotrophy patient's walking aid, also can be used as the walking-replacing tool or the open-air scientific investigation equipment of hiking.No. 200680006514.1 disclosed a kind of lower extremity exoskeletons of Chinese invention patent application and for example, this comprises that two can be configured to be coupled to described human body lower limbs and be configured to rest on ground leg support during it stands the stage.Each leg support comprises a thigh linkage section, a shank linkage section and two knee endoprosthesis.Each knee endoprosthesis is configured so that shank linkage section and separately can be crooked between the thigh linkage section and stretch separately.Described lower extremity exoskeleton also comprises the ectoskeleton trunk that can be configured to be coupled to upper half of human body.Described ectoskeleton trunk can rotatable mode be connected to the thigh linkage section of described leg support, can crooked and stretching, extension between leg support and the ectoskeleton trunk thereby make.In this exemplary embodiments, during the periodicity knee kinematics, the shank linkage section of leg support and separately the required energy of the bending between the thigh linkage section and stretching be to provide by human body.Also has the driving exoskeleton system of some electric rotating machines that are used to study.
But existing ectoskeleton adopts hydraulic cylinder or electric rotating machine to have following defective as driving device: 1, hydraulic jack drives the more parts of needs, as fuel tank, valve, oil cylinder, oil line pipe etc.Not only increase manufacturing cost, weight and volume, and increased system thermal, influenced system's operate as normal.In addition, the hydraulic cylinder noise is big, control is complicated, the control difficulty is also big.Secondly, energy consumption big (efficient of small-sized hydraulic system is less than 70%), hydraulic control system fault height, operational reliability are poor, and maintenance workload is big.2, the moment that provides of the defective that drives of electric rotary machine is little, can not satisfy system requirements; The electric rotating machine volume that moment is big is big, and it is big to take up space, the operation of obstruction system; The ectoskeleton movement range of system is little, and the motor anglec of rotation is little, is difficult to control and control accuracy and can not satisfies instructions for use.Therefore, there is defective in existing ESD, requires further improvement.
The utility model content
The purpose of this utility model is to improve on the structure of existing ESD, provides that a kind of volume is little, energy consumption is low, is easy to control and a kind of human body ectoskeleton that drives with linear electric motors that manufacturing cost is few walking power assisting device that bears a heavy burden.
A kind of human body ectoskeleton heavy burden walking power assisting device that drives with linear electric motors of the present utility model, comprise back of the body frame, the hip joint parts, the thigh parts, the shank parts, the anklebone parts, base plate, power supply, control device, pick off and driving device, described back of the body frame is fixedlyed connected with the hip joint parts, described hip joint parts and thigh parts flexibly connect, described thigh parts and shank parts flexibly connect, shank parts and anklebone parts flexibly connect, described anklebone parts and base plate flexibly connect, described power supply is connected with control device, described pick off is connected with control device, described control device is connected with driving device, it is characterized in that described driving device is a linear motor driver, described linear motor driver one end and thigh parts are in transmission connection, and the described linear motor driver other end and shank parts are in transmission connection.
Linear electric motors described in this utility model (comprise linear servo-actuator, linear stepping motor, the drum type brake linear electric motors, tubular linear electric motors, linear magnetic axis motor etc. all convert electrical energy into linearly operating can motor) driving device one end and thigh parts are in transmission connection, the described linear motor driver other end and shank parts are in transmission connection, be meant that promptly two of linear motor driver is positioned at the two ends of thigh parts and shank parts hinge portion, just linear motor driver one end and thigh parts are in transmission connection, kinematic coupling portion between thigh parts and the shank parts (knee joint or tangle) is crossed in the linear motor driver stage casing, and the linear motor driver other end and shank parts are in transmission connection.When linear electric motors (or linear servo-actuator or linear stepping motor or rectilinear cylindrical formula motor or linear magnetic axis motor etc. all convert electrical energy into linearly operating can motor) when driving device receives that the control device signal promotes, can make and the identical action of existing Driven by Hydraulic Cylinder device, promptly allow thigh parts and shank parts carry out the covering of the fan motion around kinematic coupling portion (knee joint or tangle).The parts of thigh described in this utility model, shank parts, anklebone parts and base plate are all copied human body left and right sides lower limb form, can be purpose both for auxiliary treatment, only produce the product that a left side or right lower limb are arranged, also can bear a heavy burden for specialty is purpose, produces the product that possesses left and right sides lower limb simultaneously.
The frame of the back of the body described in this utility model is made by metal or plastics or macromolecular material, described hip joint parts are made by metal or plastics or macromolecular material, described thigh parts are made by metal or plastics or macromolecular material, described shank parts are made by metal or plastics or macromolecular material, described anklebone parts are made by metal or plastics or macromolecular material, and described base plate is made by metal or plastics or macromolecular material.
Linear electric motors described in the utility model (all convert electrical energy into the motor of linearly operating energy to comprise linear servo-actuator, linear stepping motor, drum type brake linear electric motors, tubular linear electric motors, linear magnetic axis motor etc.) driving device is power-actuated straight-line linear electric motors (all convert electrical energy into the motor of linearly operating energy to comprise linear servo-actuator, linear stepping motor, drum type brake linear electric motors, tubular linear electric motors, linear magnetic axis motor etc.) devices, can be installed in hip joint, knee joint, the ankle joint position of exoskeleton system.Under the control of system control device, promote ectoskeletal thigh parts, shank parts, sole parts by straight-line electronic cylinder and do essentially identical swing and flexible with the action of human body corresponding site, power-assisted is provided for the human body of the walking of bearing a heavy burden.
A kind of described in this utility model (comprises linear servo-actuator with linear electric motors, linear stepping motor, the drum type brake linear electric motors, tubular linear electric motors, linear magnetic axis motor etc. all convert electrical energy into linearly operating can motor) the human body ectoskeleton that the drives walking power assisting device that bears a heavy burden can also have the waist linear electric motors and (comprise linear servo-actuator, linear stepping motor, the drum type brake linear electric motors, tubular linear electric motors, linear magnetic axis motor etc. all convert electrical energy into linearly operating can motor) driving device and anklebone portion linear electric motors (comprise linear servo-actuator, linear stepping motor, the drum type brake linear electric motors, tubular linear electric motors, all convert electrical energy into the motor of linearly operating energy linear magnetic axis motors etc.) driving device, described waist linear motor driver and anklebone portion linear motor driver all are controlled by system control device, described waist linear motor driver one end and hip joint parts are in transmission connection, and the described waist linear motor driver other end and thigh parts are in transmission connection; Described anklebone portion's linear motor driver one end and shank parts are in transmission connection, and described anklebone portion's linear motor driver other end and base plate are in transmission connection.
Main points of the present utility model are to adopt electric energy is directly changed into the action power of straight-line mechanical energy as human body ectoskeleton lower limb and ectoskeleton joint of the lower extremity.
This utility model is to adopt electric energy is directly changed into straight-line linear motor driver, also can be linear servo motor, linear stepping motor, drum type brake linear electric motors, tubular linear electric motors, linear magnetic axis motor etc. all convert electrical energy into linearly operating can motor, install respectively at the ectoskeletal hip joint of human body, knee joint, ankle joint position, or the place in the above-mentioned joint, two places or three places.Provide power-assisted to human body heavy burden walking.
This utility model be a kind of with linear electric motors (or linear servo motor or linear stepping motor or drum type brake linear electric motors or tubular linear electric motors or linear magnetic axis motor etc. all convert electrical energy into linearly operating can motor) the human body ectoskeleton that the drives walking power assisting device that bears a heavy burden, two legs alternating movement when the sound people of simulation lower limb walks.During walking, one leg is a supporting leg, bears the heavy burden on one's body of human body body wt and human body in walking; One leg is a free leg in addition, takes a step forward, and kiss the earth converts supporting leg to then.Supporting leg before this becomes the lower limb of taking a step, and the lower limb of taking a step before this is converted into supporting leg .....The people walks on, and then continues the circulation of these actions.At this moment, linear electric motors (or linear servo motor or linear stepping motor or drum type brake linear electric motors or tubular linear electric motors or linear magnetic axis motor etc. all convert electrical energy into linearly operating can motor) driving device provides the human body ectoskeleton of the power-assisted walking power assisting device that bears a heavy burden that the load of human body ectoskeleton carrying is passed to the ectoskeleton hip joint, pass to ectoskeleton thigh parts by the ectoskeleton hip joint, pass to ectoskeleton shank parts by ectoskeleton thigh parts again, pass to ectoskeleton anklebone parts by ectoskeleton shank parts again, pass to the ectoskeleton base plate by ectoskeleton anklebone parts again, pass to ground by the ectoskeleton base plate again.
Linear electric motors described in this utility model (or linear servo motor or linear stepping motor or drum type brake linear electric motors or tubular linear electric motors or linear magnetic axis motor etc. all convert electrical energy into linearly operating can motor) the driving device power-assisted principle that provides the human body ectoskeleton of power-assisted to bear a heavy burden the walking power assisting device is: the ectoskeleton force aid system by checkout gear at the pressure of human muscle or skeleton or the actuating signal or the pressure signal of action sensor, the signal that is detected is delivered to the apparatus control system analyzing and processing, control system is according to the program that presets, send instruction to execution unit in good time, the control linear electric motors (or linear servo motor or linear stepping motor or drum type brake linear electric motors or tubular linear electric motors or linear magnetic axis motor etc. all convert electrical energy into linearly operating can motor) make the rectilinear motion that advances or shrink, thereby change the angle or the position of human body ectoskeleton joint and parts, bearing a heavy burden to walk to human body provides power-assisted.
Control device described in this utility model is to adopt computer control.Sensor acquisition to pressure signal and limb action signal pass to computer, computer carries out analyzing and processing to signal, according to the program that presets, send switching signal, rotating signal to motor in good time, perhaps control flows to voltage or the electric current or the frequency of motor, and the control motor moves, stops, just changeing, reverse, quickens, slows down.Linear electric motors are made corresponding propelling, contraction, acceleration, deceleration under system's control rectilinear motion.Control element such as pressure transducer, relay etc. described in this utility model all are to adopt the conventional universal product.Adopted in this utility model electric energy is directly changed into linear electric motors (or linear servo motor or linear stepping motor or drum type brake linear electric motors or tubular linear electric motors or linear magnetic axis motor etc. all convert electrical energy into linearly operating can motor) parameter following but be not limited to following parameter:
Adopt mobile dc source;
Thrust: 1N-300N;
Speed: 0.1m-1000m/s;
Stroke: 10mm-300mm;
Power: 50W-1000W;
Title, model and manufacturer (but being not limited to following kind and factory):
Linear magnetic axis motor model: S040D, S040T, S040Q, S080D, S080T, S080Q, S120D, S120T, S120Q etc.
Cylindrical linear motor (linear synchronous generator) model: LSMC200201, LSMC400401
Tubular linear electric motors
Manufacturing enterprise: day arteries and veins trade (Shanghai) Co., Ltd., Zheng Zhou micro-nano science and technology Co., Ltd, motor Science and Technology Ltd. of Shenzhen big nation etc.
Compared with the aforementioned existing similar products, a kind of human body ectoskeleton that drives with linear electric motors of the present utility model bear a heavy burden that walking power assisting device volume is little, energy consumption is low, be easy to control and manufacturing cost few.
Content of the present utility model further illustrates with the following Examples, but content of the present utility model is not limited only to content related among the embodiment.
Description of drawings
Fig. 1 is the bear a heavy burden structural representation of walking power assisting device of a kind of human body ectoskeleton that drives with linear electric motors among the embodiment.
The specific embodiment
As shown in Figure 1, a kind of human body ectoskeleton heavy burden walking power assisting device that drives with linear electric motors comprises back of the body frame 1 described in the present embodiment, hip joint parts 2, thigh parts 3, shank parts 4, anklebone parts 5, base plate 6, power supply 7, control device 8, pick off 9 and driving device, described back of the body frame 1 is fixedlyed connected with hip joint parts 2, described hip joint parts 2 flexibly connect with thigh parts 3, described thigh parts 3 flexibly connect with shank parts 4, shank parts 4 flexibly connect with anklebone parts 5, described anklebone parts 5 flexibly connect with base plate 6, described power supply 7 is connected with control device 8, described pick off 9 is connected with control device 8, described control device 8 is connected with driving device, it is characterized in that described driving device is a linear motor driver 10, described linear motor driver 10 1 ends and thigh parts 4 are in transmission connection, and described linear motor driver 10 other ends and shank parts 4 are in transmission connection.
A kind of human body ectoskeleton heavy burden walking power assisting device that drives with linear electric motors described in the present embodiment, also has anklebone portion linear motor driver 11, described anklebone portion linear motor driver 11 is connected with control device 8, described anklebone portion's linear motor driver 11 1 ends and shank parts 4 are in transmission connection, and described anklebone portion's linear motor driver 11 other ends and base plate 6 are in transmission connection.
A kind of human body ectoskeleton heavy burden walking power assisting device work process and existing ectoskeleton work process that drives with linear electric motors is similar described in the present embodiment, repeats no more herein.
Claims (1)
1. a human body ectoskeleton that drives with linear electric motors walking power assisting device that bears a heavy burden, comprise back of the body frame, the hip joint parts, the thigh parts, the shank parts, the anklebone parts, base plate, power supply, control device, pick off and driving device, described back of the body frame is fixedlyed connected with the hip joint parts, described hip joint parts and thigh parts flexibly connect, described thigh parts and shank parts flexibly connect, shank parts and anklebone parts flexibly connect, described anklebone parts and base plate flexibly connect, described power supply is connected with control device, described pick off is connected with control device, described control device is connected with driving device, it is characterized in that described driving device is a linear motor driver, described linear motor driver one end and thigh parts are in transmission connection, and the described linear motor driver other end and shank parts are in transmission connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205684118U CN201806802U (en) | 2010-10-20 | 2010-10-20 | Human exoskeleton loaded walking aiding device driven by linear motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205684118U CN201806802U (en) | 2010-10-20 | 2010-10-20 | Human exoskeleton loaded walking aiding device driven by linear motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201806802U true CN201806802U (en) | 2011-04-27 |
Family
ID=43889760
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010205684118U Expired - Fee Related CN201806802U (en) | 2010-10-20 | 2010-10-20 | Human exoskeleton loaded walking aiding device driven by linear motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201806802U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102805915A (en) * | 2012-08-06 | 2012-12-05 | 陈建瑜 | Intelligent power assisting system |
| CN103612257A (en) * | 2013-12-02 | 2014-03-05 | 电子科技大学 | External skeleton pump and valve combined control device and method |
| CN105193594A (en) * | 2015-05-18 | 2015-12-30 | 重庆倍精科技研发有限公司 | Weight-bearing walking speed-up boosting device |
| CN107322569A (en) * | 2017-08-07 | 2017-11-07 | 南京理工大学 | A kind of isomery Wearable load power assisting device and its control method |
| CN107361886A (en) * | 2017-06-21 | 2017-11-21 | 苏州博安捷机器人科技有限公司 | A kind of artificial leg structure |
| 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 |
| CN109718064A (en) * | 2017-10-31 | 2019-05-07 | 松下知识产权经营株式会社 | Auxiliary device, householder method and program |
| CN109718061A (en) * | 2017-10-31 | 2019-05-07 | 松下知识产权经营株式会社 | Auxiliary device, householder method and program |
| CN115531137A (en) * | 2022-09-05 | 2022-12-30 | 东北大学佛山研究生创新学院 | Novel knee joint exoskeleton |
-
2010
- 2010-10-20 CN CN2010205684118U patent/CN201806802U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102805915A (en) * | 2012-08-06 | 2012-12-05 | 陈建瑜 | Intelligent power assisting system |
| CN103612257A (en) * | 2013-12-02 | 2014-03-05 | 电子科技大学 | External skeleton pump and valve combined control device and method |
| CN105193594A (en) * | 2015-05-18 | 2015-12-30 | 重庆倍精科技研发有限公司 | Weight-bearing walking speed-up boosting device |
| US11577410B2 (en) | 2016-01-20 | 2023-02-14 | Ekso Bionics, Inc. | Control mechanisms and methods of tool-holding arm for exoskeletons |
| 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 |
| CN107361886A (en) * | 2017-06-21 | 2017-11-21 | 苏州博安捷机器人科技有限公司 | A kind of artificial leg structure |
| CN107361886B (en) * | 2017-06-21 | 2019-03-08 | 苏州博安捷机器人科技有限公司 | A kind of artificial leg structure |
| CN107322569A (en) * | 2017-08-07 | 2017-11-07 | 南京理工大学 | A kind of isomery Wearable load power assisting device and its control method |
| CN107322569B (en) * | 2017-08-07 | 2023-08-22 | 南京理工大学 | Heterogeneous wearable load power assisting device and control method thereof |
| CN109718061A (en) * | 2017-10-31 | 2019-05-07 | 松下知识产权经营株式会社 | Auxiliary device, householder method and program |
| CN109718064A (en) * | 2017-10-31 | 2019-05-07 | 松下知识产权经营株式会社 | Auxiliary device, householder method and program |
| CN115531137A (en) * | 2022-09-05 | 2022-12-30 | 东北大学佛山研究生创新学院 | Novel knee joint exoskeleton |
| CN115531137B (en) * | 2022-09-05 | 2023-09-05 | 东北大学佛山研究生创新学院 | Novel knee joint exoskeleton |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201806802U (en) | Human exoskeleton loaded walking aiding device driven by linear motor | |
| CN201920940U (en) | Linear motor driven device for human body lower limb exoskeleton walking aid device driven by linear motor | |
| CN201920941U (en) | Human body exoskeleton walking-aid device with four exoskeleton lower limbs | |
| CN103054692B (en) | Wearable lower limb exoskeleton walking-assisted robot | |
| CN112060060B (en) | Active and passive hybrid driven lower limb power-assisted exoskeleton robot and control method | |
| CN104552276B (en) | The ectoskeleton servomechanism that pneumatic muscles drives | |
| CN205198395U (en) | Wearable low limbs ectoskeleton helping hand walking robot mechanism | |
| US11147732B2 (en) | Connecting rod type lower limb exoskeleton rehabilitation robot | |
| CN106625605B (en) | A kind of light-duty ankle-joint ectoskeleton | |
| CN204450526U (en) | The ectoskeleton servomechanism that a kind of pneumatic muscles drives | |
| CN103006416B (en) | Mechanical lower-limb rehabilitation robot walker device | |
| CN108904221B (en) | Variable-rigidity elastic multifunctional driver and motion control method thereof | |
| CN201840552U (en) | Linear-electric-cylinder-driving assistor for walking of human body exoskeleton | |
| CN103892943B (en) | Active/passive is in conjunction with the flexible lower limb exoskeleton of force booster type | |
| CN105963102B (en) | Parallel link lower limb rehabilitation robot | |
| CN104287940A (en) | Robot for lower limb joint rehabilitation training | |
| CN102232902B (en) | Pedal type lower-limb rehabilitation training device | |
| CN102113949A (en) | Exoskeleton-wearable rehabilitation robot | |
| CN101984946A (en) | Sitting exoskeleton lower limb rehabilitation robot | |
| CN104434472A (en) | Training aiding robot for exoskeletons | |
| CN102991601B (en) | Two-degree-of-freedom humanoid ankle joint | |
| CN103144693A (en) | Leg mechanism for four-footed bionic robot | |
| CN110063877A (en) | Drive rear-mounted lower limb exoskeleton robot | |
| CN110103207A (en) | A kind of flexible lower limb exoskeleton of auxiliary walking | |
| CN103356363A (en) | Ankle joint boosting method with reverse drivability |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110427 Termination date: 20141020 |
|
| EXPY | Termination of patent right or utility model |