CN202605060U - Human hip exoskeleton mechanical bearing device - Google Patents
Human hip exoskeleton mechanical bearing device Download PDFInfo
- Publication number
- CN202605060U CN202605060U CN 201220146233 CN201220146233U CN202605060U CN 202605060 U CN202605060 U CN 202605060U CN 201220146233 CN201220146233 CN 201220146233 CN 201220146233 U CN201220146233 U CN 201220146233U CN 202605060 U CN202605060 U CN 202605060U
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- China
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- hip
- hinged
- human body
- bearing pin
- tappet
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Abstract
The utility model relates to a human hip exoskeleton mechanical bearing device which comprises a left hip and a right hip which are symmetrical. The left hip is hinged to the right hip through a hip central pin to form an X shape. Springs are disposed between the left hip and the right hip at the top and the bottom of the X shape. The other end of each of the left hip and the right hip is hinged to a leg hip connector. The other end of each of the two leg hip connectors is hinged to a first connector of a universal connecting member. The second connector of each of the two universal connecting members is hinged to a tappet. The other end of each of the two tappets is sleeved into a sleeve. A pressure spring for supporting each tappet is disposed in each of the two sleeves. A third connector of each of the two universal connecting members is hinged to a leg adjusting member. The other end of each of the two leg adjusting members is fixedly connected with the upper end of a leg part of a leg bearing device. Load on a back frame of a human exoskeleton carrying power assisting device can be transmitted to the leg bearing device by the human hip exoskeleton mechanical bearing device which is highly flexible and has the function of buffering and shock absorption.
Description
Technical field
This utility model relates to a kind of mechanical loading device, particularly about a kind of human body hip that is arranged on, is used for the load on the human body ectoskeleton portable power assisting device back of the body frame is passed to the human body hip ectoskeleton mechanical loading device of shank bogey.
Background technology
In rescue and relief work or manpower transportation; Human body need carry increasing equipment and goods and materials; Can influence gait of march, travel distance and the maneuverability of human body like this, therefore, various countries are quickening to develop the human body ectoskeleton portable power assisting device of ergonomic; To help human body to reduce physical consumption, improve heavy burden ability, endurance and human body maneuverability.
China starts late about the research of human body ectoskeleton portable power assisting device, and the most weight capacity of existing human body ectoskeleton portable power assisting device is low, and lacks hight coordinate property and motion bumper and absorbing shock ability that the man-machine coordination campaign requires.Particularly under fully loaded transportation condition; When human body when walking fast, running and striding strenuous exercise such as jumping, traditional mechanical loading device is difficult to load, and can cause certain obstruction to the motion of human body; Influence the balanced capacity of human body, action seriality and motility.
Summary of the invention
To the problems referred to above; The purpose of this utility model provides a kind ofly can give the shank bogey with the load efficient transfer on the human body ectoskeleton portable power assisting device back of the body frame, and the human body hip ectoskeleton mechanical loading device with high degree of flexibility and bumper and absorbing shock function.
Be to realize above-mentioned purpose, this utility model is taked following technical scheme: a kind of human body hip ectoskeleton mechanical loading device, and it is characterized in that: it comprises symmetrically arranged one a left hip and a right hip; Left and right hip symmetrical configuration; One end all is upturned to intersect each other and is the X shape, and is at the infall of X shape, hinged through a hip central pin shaft between the left and right hip; In the top and the bottom of X shape, a spring is set respectively between the left and right hip; The other end of left and right hip is respectively through the hinged lower limb hip connector of a hip side bearing pin, and the other end of two lower limb hip connectors passes through first interface of the hinged universal connecting components of a universal connection bearing pin respectively; Second interface of two universal connecting components connects the hinged tappet of bearing pin through a tappet respectively; The other end of two tappets is set in respectively in the sleeve; Be respectively arranged with the stage clip that supports tappet in two sleeves, the two telescopic other ends connect bearing pin through a sleeve respectively and are hinged on the bottom of two lower limb hip connectors near hip side bearing pin; The 3rd interface of two universal connecting components connects the hinged shank regulating part of bearing pin through a shank respectively, and the other end that two shanks are regulated parts then is fixedly connected with the upper end of two thigh parts of shank bogey respectively.
Above-mentioned sleeve is provided with one section chute near an end of universal connecting components, and the middle part of tappet is provided with one and in chute, cooperates the boss that slides.
Above-mentioned in the top and the bottom of X shape, two springs between the left and right hip all adopt hot rolling stretching cylindrical screw RLII type spring to process.
The above-mentioned stage clip that in sleeve, is provided with adopts hot rolling compression cylindrical screw RY I type spring to process.
This utility model is owing to take above technical scheme; It has the following advantages: 1, this utility model connects back of the body frame and the shank bogey in the human body ectoskeleton portable power assisting device; Cooperation through sleeve, stage clip and tappet; Load on the back of the body frame is passed to the shank bogey, have stable load-bearing ability and transmission efficiency, can help human body to improve march effectively and fight or rescue and relief work heavy burden ability.2, this utility model adopts bearing pin and hinged each member of universal connecting components, and hip member and lower limb hip connector can be rotated flexibly, can satisfy human body multiple degrees of freedom requirement under the different technologies action when bearing heavy duty, and flexibility ratio is high.3, this utility model for the people provides certain restoring force when lower limb is lifted in walking, thereby can alleviate the exercise fatigue of human body through on the hip member and in the sleeve of lower limb hip connector, spring being set, and also has damping effect simultaneously, and whole device is carried steadily.4, this utility model limits the extreme position of tappet through chute is set on sleeve, turns over after avoiding causing carrying on the back frame because of the horizontal force of lower limb hip connector is excessive, makes that human body is unbalance to be fallen down.This utility model mechanism ergonomic, simple and compact for structure, can satisfy the joint motions and the load delivery request of dissimilar human body ectoskeleton portable power assisting devices.
Description of drawings
Fig. 1 is the structural front view of this utility model
Fig. 2 is the left view of Fig. 1
The specific embodiment
Below in conjunction with accompanying drawing and embodiment this utility model is carried out detailed description.
This utility model is in the human body ectoskeleton portable power assisting device, connects the middle device of back of the body frame and shank bogey, is used for the external applied load on the back of the body frame is passed to the shank bogey.
As shown in Figure 1, this utility model comprises symmetrically arranged one a left hip 1 and a right hip 2.Left side hip 1 and right hip 2 symmetrical configuration, an end all are upturned to intersect each other and are the X shape.At the infall of X shape, hinged between left hip 1 and the right hip 2 through a hip central pin shaft 3, simultaneously through hip central pin shaft 3, be fixedly connected on (not shown) on the back of the body frame.In the top and the bottom of X shape, also be respectively arranged with a spring between left hip 1 and the right hip 2: hip upper spring 4 and hip lower spring 5.Hip upper spring 4 all can adopt hot rolling stretching cylindrical screw RL II type spring with hip lower spring 5.When the people in the process of walking, hip upper spring 4 is compressed with hip lower spring 5 or stretches, and certain restoring force is provided, and helps the people to lift lower limb, also has damping effect simultaneously, and whole device is carried steadily.
The left hip 1 and right hip 2 symmetrical configuration of this utility model, the modular construction that is connected is identical, is that example is explained with left hip 1 only below.Like Fig. 1, shown in Figure 2; The other end of left side hip 1 is through a hip side bearing pin 6 hinged lower limb hip connectors 7; When the people when leaping over obstacles or other technologies action are accomplished in side direction walking; Thigh swings, and left hip 1 is realized rotation relatively through hip side bearing pin 6 and lower limb hip connector 7, thereby accomplishes swaying legs action.The other end of lower limb hip connector 7 is through first interface of universal connection bearing pin 8 hinged universal connecting components 9.Second interface of universal connecting components 9 connects bearing pin 10 hinged tappets 11 through a tappet, and the other end of tappet 11 is set in the sleeve 12.Be provided with the stage clip 13 that supports tappet 11 in the sleeve 12.Stage clip 13 can adopt hot rolling compression cylindrical screw RY I type spring, both can realize the load transmission, again certain restoring force can be provided, and can also play damping effect simultaneously.The other end of sleeve 12 connects bearing pin 14 through a sleeve and is hinged on the bottom of lower limb hip connector 7 near hip side bearing pin 6.The 3rd interface of universal connecting components 9 connects bearing pin 15 hinged shank regulating parts 16 through a shank, and the other end that shank is regulated parts 16 then is fixedly connected (not shown) with the upper end of the thigh part of shank bogey.
Above-mentioned universal connecting components 9 has three interfaces, can realize the rotation of two degree of freedom directions, satisfies people's needed degree of freedom requirement when accomplishing the different technologies action.When the people normally walks, the thigh swing, lower limb hip connector 7 can be realized rotation relatively through universal connection bearing pin 8 and universal connecting components 9; When the people when leaping over obstacles or other technologies action are accomplished in side direction walking; Thigh swings; Drive the shank bogey and swing, connected shank is regulated parts 16 and is realized rotation relatively through shank connection bearing pin 15 and universal connecting components 9, thus the completion swaying legs action.
In the foregoing description, sleeve 12 is provided with one section chute 121 near an end of universal connecting components 9, and the middle part of tappet 11 is provided with one and in chute 121, cooperates the boss 111 that slides; The purpose that is provided with like this is in order to realize carrying with spacing: when external applied load is connected bearing pin 14 and passes to sleeve 12 through sleeve; Sleeve 12 takes place to slide relatively with tappet 11, and boss 111 slides along chute 121, when boss 111 slides into two end points of chute 121; Relative slip can not take place with tappet 11 in sleeve 12 again; Thereby become a rigid body, at this moment, external applied load connects bearing pin 14, sleeve 12 and tappet 11 through sleeve and is delivered to universal connecting components 9; Be delivered to shank through universal connecting components 9 again and regulate parts 16 and shank bogey, realize the transmission of external applied load; When bearing weight when overweight; Sleeve 12 takes place to slide relatively with tappet 11, and boss 111 slides into the end end points away from universal connecting components 9 along chute 121, and the position reaches capacity; Sleeve 12 can not continue to take place relative slip with tappet 11; Make back of the body frame keep balance, thereby turn over after avoiding causing carrying on the back frame, make that human body is unbalance to be fallen down because of the horizontal force of lower limb hip connector 7 is excessive.
Above-mentioned each embodiment only is used to explain this utility model; Wherein the structure of each parts, connected mode etc. all can change to some extent; Every equivalents of on the basis of this utility model technical scheme, carrying out and improvement all should not got rid of outside the protection domain of this utility model.
Claims (5)
1. human body hip ectoskeleton mechanical loading device; It is characterized in that: it comprises symmetrically arranged one a left hip and a right hip, said left and right hip symmetrical configuration, and an end all is upturned to intersect each other and is the X shape; Infall at said X shape; Hinged between the said left and right hip through a hip central pin shaft, in the top and the bottom of said X shape, between the said left and right hip spring is set respectively; The other end of said left and right hip is respectively through the hinged lower limb hip connector of a hip side bearing pin, and the other end of two said lower limb hip connectors passes through first interface of the hinged universal connecting components of a universal connection bearing pin respectively; Second interface of two said universal connecting components connects the hinged tappet of bearing pin through a tappet respectively; The other end of two said tappets is set in respectively in the sleeve; Be respectively arranged with the stage clip that supports said tappet in the two said sleeves, the two said telescopic other ends connect bearing pin through a sleeve respectively and are hinged on the bottom of two said lower limb hip connectors near said hip side bearing pin; The 3rd interface of two said universal connecting components connects the hinged shank regulating part of bearing pin through a shank respectively, and the other end that two said shanks are regulated parts then is fixedly connected with the upper end of two thigh parts of shank bogey respectively.
2. a kind of human body hip ectoskeleton as claimed in claim 1 mechanical loading device, it is characterized in that: said sleeve is provided with one section chute near an end of said universal connecting components, and the middle part of said tappet is provided with one and in said chute, cooperates the boss that slides.
3. a kind of human body hip ectoskeleton as claimed in claim 1 mechanical loading device, it is characterized in that: in the top and the bottom of said X shape, two springs between the said left and right hip all adopt hot rolling stretching cylindrical screw RL II type spring to process.
4. a kind of human body hip ectoskeleton as claimed in claim 2 mechanical loading device, it is characterized in that: in the top and the bottom of said X shape, two springs between the said left and right hip all adopt hot rolling stretching cylindrical screw RLII type spring to process.
5. like each described a kind of human body hip ectoskeleton mechanical loading device of claim 1～4, it is characterized in that: the stage clip that in said sleeve, is provided with adopts hot rolling compression cylindrical screw RYI type spring to process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220146233 CN202605060U (en) | 2012-03-31 | 2012-03-31 | Human hip exoskeleton mechanical bearing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220146233 CN202605060U (en) | 2012-03-31 | 2012-03-31 | Human hip exoskeleton mechanical bearing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202605060U true CN202605060U (en) | 2012-12-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220146233 Withdrawn - After Issue CN202605060U (en) | 2012-03-31 | 2012-03-31 | Human hip exoskeleton mechanical bearing device |
Country Status (1)
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|---|---|
| CN (1) | CN202605060U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102599998A (en) * | 2012-03-31 | 2012-07-25 | 中国人民解放军总后勤部军需装备研究所 | Mechanical human hip exoskeleton bearing device |
| CN103239307A (en) * | 2013-04-24 | 2013-08-14 | 西南交通大学 | Method for detecting load bearing for power-assisted exoskeletons |
-
2012
- 2012-03-31 CN CN 201220146233 patent/CN202605060U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102599998A (en) * | 2012-03-31 | 2012-07-25 | 中国人民解放军总后勤部军需装备研究所 | Mechanical human hip exoskeleton bearing device |
| CN102599998B (en) * | 2012-03-31 | 2015-06-17 | 中国人民解放军总后勤部军需装备研究所 | Mechanical human hip exoskeleton bearing device |
| CN103239307A (en) * | 2013-04-24 | 2013-08-14 | 西南交通大学 | Method for detecting load bearing for power-assisted exoskeletons |
| CN103239307B (en) * | 2013-04-24 | 2015-03-25 | 西南交通大学 | Method for detecting load bearing efficiency for power-assisted exoskeletons |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20121219 Effective date of abandoning: 20150617 |
|
| RGAV | Abandon patent right to avoid regrant |