CN201840552U - Linear-electric-cylinder-driving assistor for walking of human body exoskeleton - Google Patents
Linear-electric-cylinder-driving assistor for walking of human body exoskeleton Download PDFInfo
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- CN201840552U CN201840552U CN2010205533809U CN201020553380U CN201840552U CN 201840552 U CN201840552 U CN 201840552U CN 2010205533809 U CN2010205533809 U CN 2010205533809U CN 201020553380 U CN201020553380 U CN 201020553380U CN 201840552 U CN201840552 U CN 201840552U
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Abstract
The utility model relates to a wearable lower limbs walking exoskeleton, in particular to a linear-electric-cylinder-driving assistor for walking of human body exoskeleton. The device comprises a back frame, a hip-joint member, a thigh member, a crus member, an ankle member, a baseplate, an electrical source, a control device, a sensor and a drive device, wherein the back frame and the hip-joint member are fixedly connected; the hip-joint member and the thigh member are movably connected; the thigh member and the crus member are movably connected; the crus member and the ankle member are movably connected; the ankle member and the baseplate are movably connected; the electrical source and the control device are communicated; the sensor and the control device are communicated; and the control device and the drive device are communicated. The assistor is characterized in that the drive device is a linear electric cylinder drive device, wherein one end of the linear electric cylinder drive device is in transmission connection with the thigh member and the other end of the linear electric cylinder drive device is in transmission connection with the crus member. The assistor has the advantages of small size, low energy consumption, easiness in control and low manufacturing 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 the straight line electric cylinder.
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 the straight line electric cylinder 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 the straight line electric cylinder 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 straight line electric cylinder driving device, described straight line electric cylinder driving device one end and thigh parts are in transmission connection, and the described straight line electric cylinder driving device other end and shank parts are in transmission connection.
Straight line electric cylinder described in this utility model (or linear stepping motor or electric linear push rod) driving device one end and thigh parts are in transmission connection, the described straight line electric cylinder driving device other end and shank parts are in transmission connection, be meant that promptly two of straight line electric cylinder driving device is positioned at the two ends of thigh parts and shank parts hinge portion, just straight line electric cylinder driving device 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 straight line electric cylinder driving device stage casing, and the straight line electric cylinder driving device other end and shank parts are in transmission connection.When straight line electric cylinder (or linear stepping motor or electric linear push rod) 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.
Straight line electric cylinder described in the utility model (or linear stepping motor or electric linear push rod) driving device is power-actuated straight-line straight line stepping servo electric jar (or linear stepping motor or electric linear push rod) device, 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 human body ectoskeleton heavy burden walking power assisting device that drives with straight line electric cylinder (or linear stepping motor or electric linear push rod) described in this utility model can also have waist straight line electric cylinder (or linear stepping motor or electric linear push rod) driving device and anklebone portion straight line electric cylinder (or linear stepping motor or electric linear push rod) driving device, described waist straight line electric cylinder driving device and anklebone portion straight line electric cylinder driving device all are controlled by system control device, described waist straight line electric cylinder driving device one end and hip joint parts are in transmission connection, and the described waist straight line electric cylinder driving device other end and thigh parts are in transmission connection; Described anklebone portion's straight line electric cylinder driving device one end and shank parts are in transmission connection, and described anklebone portion's straight line electric cylinder driving device 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 straight line electric cylinder driving device, also can be straight line stepping servo electric jar or linear stepping motor or electric linear push rod, 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 is a kind of human body ectoskeleton heavy burden walking power assisting device that drives with straight line electric cylinder (or linear stepping motor or electric linear push rod), 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, straight line electric cylinder (or linear stepping motor or electric linear push rod) driving device provides the human body ectoskeleton heavy burden walking power assisting device of power-assisted that the load that the human body ectoskeleton carries 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.
The power-assisted principle that the cylinder of straight line electric described in this utility model (or linear stepping motor or electric linear push rod) driving device 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 rectilinear motion that control straight line stepping servo electric jar (or linear stepping motor or electric linear push rod) is done propelling or shunk, 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.Straight line electric cylinder driving device (stepping servo electric jar or linear stepping motor or electric linear push rod) is made corresponding propelling, contraction, acceleration, deceleration under motor-driven rectilinear motion.Control element such as pressure transducer, relay etc. described in this utility model all are to adopt the conventional universal product.The parameter that electric energy is directly changed into straight line electric cylinder driving device (or straight line power cylinder or servo straight line electric cylinder, servo linear motor) that is adopted in this utility model is following but be not limited to following parameter:
Adopt mobile dc source;
Thrust: 10N-300N;
Speed: 0.2m-1000m/s;
Stroke: 10mm-300mm;
Power: 50W-1000W;
Title, model and manufacturer (but being not limited to following kind and factory):
Stepping servo electric jar model: LPC
Linear stepping motor model: LBM57400
Electric high-speed push rod model: LDA
U groove linear electric motors, U molded lines motor model: LUCM
Dull and stereotyped linear electric motors
Manufacturing enterprise: exhibition Science and Technology Ltd. etc. is thought in Nanjing
Compared with the aforementioned existing similar products, a kind of human body ectoskeleton that drives with the straight line electric cylinder 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 a kind of structural representation of using the human body ectoskeleton heavy burden walking power assisting device of straight line electric cylinder driving 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 the straight line electric cylinder 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 straight line electric cylinder driving device 10, described straight line electric cylinder driving device 10 1 ends and thigh parts 4 are in transmission connection, and described straight line electric cylinder driving device 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 the straight line electric cylinder described in the present embodiment, also has anklebone portion straight line electric cylinder driving device 11, described anklebone portion straight line electric cylinder driving device 11 is connected with control device 8, described anklebone portion's straight line electric cylinder driving device 11 1 ends and shank parts 4 are in transmission connection, and described anklebone portion's straight line electric cylinder driving device 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 the straight line electric cylinder is similar described in the present embodiment, repeats no more herein.
Claims (1)
1. a human body ectoskeleton that drives with straight line electric cylinder 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 straight line electric cylinder driving device, described straight line electric cylinder driving device one end and thigh parts are in transmission connection, and the described straight line electric cylinder driving device other end and shank parts are in transmission connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205533809U CN201840552U (en) | 2010-10-09 | 2010-10-09 | Linear-electric-cylinder-driving assistor for walking of human body exoskeleton |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205533809U CN201840552U (en) | 2010-10-09 | 2010-10-09 | Linear-electric-cylinder-driving assistor for walking of human body exoskeleton |
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| CN201840552U true CN201840552U (en) | 2011-05-25 |
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| CN2010205533809U Expired - Fee Related CN201840552U (en) | 2010-10-09 | 2010-10-09 | Linear-electric-cylinder-driving assistor for walking of human body exoskeleton |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104053424A (en) * | 2012-03-30 | 2014-09-17 | 国立大学法人九州大学 | Ambulatory movement assistance device |
| CN104869970B (en) * | 2012-12-11 | 2017-09-29 | 埃克苏仿生公司 | Reconfigurable ectoskeleton |
| 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 |
| CN108567546A (en) * | 2018-04-10 | 2018-09-25 | 超微（上海）骨科医院管理股份有限公司 | A kind of wearable ankle rehabilitation parallel robot and its application method of four-degree-of-freedom |
| CN110652428A (en) * | 2019-10-21 | 2020-01-07 | 漫步者（天津）康复设备有限公司 | Wearable lower limb rehabilitation robot |
-
2010
- 2010-10-09 CN CN2010205533809U patent/CN201840552U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104053424A (en) * | 2012-03-30 | 2014-09-17 | 国立大学法人九州大学 | Ambulatory movement assistance device |
| CN104053424B (en) * | 2012-03-30 | 2016-01-20 | 国立大学法人九州大学 | Walking movement auxiliary implement |
| CN104869970B (en) * | 2012-12-11 | 2017-09-29 | 埃克苏仿生公司 | Reconfigurable ectoskeleton |
| US10327975B2 (en) | 2012-12-11 | 2019-06-25 | Ekso Bionics, Inc. | Reconfigurable exoskeleton |
| 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 |
| CN108567546A (en) * | 2018-04-10 | 2018-09-25 | 超微（上海）骨科医院管理股份有限公司 | A kind of wearable ankle rehabilitation parallel robot and its application method of four-degree-of-freedom |
| CN110652428A (en) * | 2019-10-21 | 2020-01-07 | 漫步者（天津）康复设备有限公司 | Wearable lower limb rehabilitation robot |
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| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110525 Termination date: 20141009 |
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| EXPY | Termination of patent right or utility model |