CN203122695U - Frame carrier hip part two-stage coupling device for assistance type exoskeleton - Google Patents
Frame carrier hip part two-stage coupling device for assistance type exoskeleton Download PDFInfo
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- CN203122695U CN203122695U CN 201320085341 CN201320085341U CN203122695U CN 203122695 U CN203122695 U CN 203122695U CN 201320085341 CN201320085341 CN 201320085341 CN 201320085341 U CN201320085341 U CN 201320085341U CN 203122695 U CN203122695 U CN 203122695U
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Abstract
本实用新型公开了一种助力型外骨骼用背架髋部两级联结装置，其特征在于，在外骨骼的背架和髋部之间设置腰部护板作为中间连接装置，在背架与腰部护板之间左右对称设置一级阻尼器，实现一级联结，在腰部护板与左右髋部结构之间对称设置二级阻尼器，实现二级联结。本实用新型可以约束背架、右髋构件和左髋构件三者的平动和转动自由度，实现稳定可靠的连接，使背架上的负重可以顺利地向下肢结构传递，增强负重的稳定性；并且通过阻尼器的拉伸作用，可以释放一定的转动自由度范围，不仅可以有效降低负重在人机运动期间对外骨骼造成的冲击载荷，还可以实现外骨骼左右两侧的解耦，有效提高人机运动的协调性。
The utility model discloses a two-stage hip joint device for a power-assisted exoskeleton. A first-level damper is arranged symmetrically between the boards to realize a first-level connection, and a second-level damper is symmetrically arranged between the waist guard plate and the left and right hip structures to realize a second-level connection. The utility model can constrain the freedom of translation and rotation of the back frame, the right hip component and the left hip component, realize a stable and reliable connection, make the load on the back frame smoothly transfer to the lower limb structure, and enhance the stability of the load ; and through the stretching effect of the damper, a certain range of rotational freedom can be released, which can not only effectively reduce the impact load caused by the load on the exoskeleton during man-machine movement, but also realize the decoupling of the left and right sides of the exoskeleton, effectively improving Coordination of human-machine movement.
Description
Technical field
This utility model relates to the design of frame for movement, relates in particular to a kind of for the ectoskeletal realization back of the body of assistance type frame and the stable two-stage hookup that is connected and can reliably carries of hip.
Background technology
Oscillation phenomenon is the natural phenomena of every engineering goods, fractures because of tremor as wing, and steel construction caves in etc. because of resonance, and this calls unfavorable factor; And for example jigging conveyer, vibrator etc. are favorable factor.Become the occasion of mechanical unfavorable factor in vibration, vibration damping and vibration isolation have more and more higher requirement, so the design of elastic damping system is the steps necessary of Machine Design equally.
For the ectoskeleton structure in the man-machine portable system, its major function is replacing human body to bear vertical load, so must tightly link together by connecting device between ectoskeleton and the human body.During man-machine portable, heavy burden can cause vibration and impact phenomenon with speed and the acceleration of human motion like this.When man-machine portable is walked, in the periodic movement that supports mutually and swing mutually, man-machine barycenter has the motion feature of a dipping and heaving, is rising or the heavy stage, and bearing a heavy burden all can cause dynamic loading by acceleration, and act on ectoskeleton repeatedly with man-machine barycenter curve, along with the increase of the speed of travel, the quickening of step frequency and the increase of stride, the frequency in this dynamic load effect cycle also can increase, amplitude can become greatly, causes ectoskeletal vibratory impulse.
Simultaneously during man-machine walking movement, swing provides side the hip phenomenon can occur hanging with respect to support-side, be that single foot is when supporting, heavy burden is supported by this side, the motion of opposite side then can not be restricted, otherwise can influence the harmony between the man-machine motion, this connecting device that just requires to carry on the back between frame and the hip should vertical support force, and the freedom of motion between the both sides again can not mutual restriction.
By the vibration that may be subjected to ectoskeleton and the analysis of percussion, and to the influence of between humans and machines harmony, require the design between ectoskeletal back of the body frame and the hip structure should satisfy load bearing requirements, can realize the decoupling zero of left and right sides hip again, satisfy the requirement of man-machine sports coordination.
In the research of present ectoskeleton frame for movement, emphasis concentrates on the design of lower limb load carrier and intensity, stiffness analysis, and often ignored problem between back of the body frame and the hip, and from the achievement in research of announcing, usually will carry on the back frame, left and right sides hip connects as a whole, can realize that human body is upright, the carrying under the static conditions, but then do not solve for the carrying such as the walking athletic posture of etc.ing, and the coordination exercise between man-machine does not have realization.
The utility model proposes a kind of new ectoskeletal realization of assistance type that is used for and carry on the back frame and the stable two-stage hookup that is connected and can reliably carries of hip, between back of the body frame and hip, the waist backplate is set as middle connecting device, and share a jackshaft, simultaneously at back of the body frame and backplate, be symmetrical arranged antivibrator between backplate and the hip structure, respectively the three is reliably connected, and the stretching action by antivibrator, can strengthen the stability of heavy burden, effectively reduce the shock loading of bearing a heavy burden and between man-machine moving period, ectoskeleton being caused, can realize the decoupling zero of the ectoskeleton left and right sides, effectively improve the harmony of man-machine motion.
The utility model content
The purpose of this utility model is a kind of a kind of new device that is applied to ectoskeleton back of the body frame and hip connection of design, under the effect of antivibrator, strengthen the stability of bearing a heavy burden, effectively reduce the shock loading of bearing a heavy burden and between man-machine moving period, ectoskeleton being caused, realize the decoupling zero of the ectoskeleton left and right sides, effectively improve the harmony of man-machine motion.
Realize that the technical scheme that this utility model purpose adopts is:
A kind of assistance type ectoskeleton is with carrying on the back frame hip two-stage hookup, the buffering that is used in the ectoskeleton structure of man-machine portable system between back of the body frame and hip member connects, guarantee transmission and the man-machine motor coordination of external applied load, waist backplate 100 is set, the waist backplate is provided with the two-stage coupling arrangement, one is used for connecting with back of the body frame 200, and comprising: an end of one-level antivibrator 201 is arranged on the waist backplate 100, and its other end connects with the left side of back of the body frame 200; One-level antivibrator 202 is symmetrical arranged, and connects with the right of back of the body frame 200; Another coupling arrangement is used for connecting with the hip member, and comprising: an end of secondary antivibrator 301 is arranged on the waist backplate 100, and its other end connects with left hip member 300, and another secondary antivibrator 302 is symmetrical arranged, and connects with right hip member 400; Waist backplate 100 middle parts arrange central shaft 120, and back of the body frame 200, left hip member 300 and right hip member 400 are socketed on the central shaft 120.
Adopt structure as above, between ectoskeletal back of the body frame and hip, the waist backplate is set as middle connecting device, and share the preliminary degree of freedom constraint that realizes three translation directions and two rotation directions of a jackshaft by the three; In order to make waist backplate and back of the body frame can in man-machine motor process, be positioned at the centre position all the time, between back of the body frame and waist backplate, be symmetrical set the one-level antivibrator simultaneously, realize a level link, between backplate and hip structure, be symmetrical arranged the secondary antivibrator, realize two level links, and simultaneously the three reliably is connected to coupled structure.
By this mode that the two-stage hookup is set between the ectoskeletal back of the body frame of assistance type and left and right sides hip and waist backplate, can retrain three's translation and rotational freedom, realize reliable and stable connection, make the heavy burden on the back of the body frame strengthen the stability of bearing a heavy burden successfully to the transmission of lower limb structure; And the stretching action by antivibrator, can discharge certain rotational freedom scope, not only can effectively reduce the shock loading that heavy burden causes ectoskeleton between man-machine moving period, can also realize the decoupling zero of the ectoskeleton left and right sides, effectively improve the harmony of man-machine motion.
Description of drawings
Fig. 1 is the front view of ectoskeleton back of the body frame and hip hookup.
Fig. 2 is Figure 1A-A cutaway view.
Fig. 3 is Figure 1B-B cutaway view.
Fig. 4 is waist backplate front view.
Fig. 5 is Fig. 4 A-A cutaway view.
Fig. 6 is one-level antivibrator positive view.
Fig. 7 is Fig. 6 vertical view.
Fig. 8 is secondary antivibrator positive view.
Fig. 9 is Fig. 8 vertical view.
The specific embodiment
(convenient for expressing in conjunction with Fig. 1, Fig. 1 has adopted irregular stagewise cutaway view) can see, waist backplate 100 is set in the skeletal structure outside, by jackshaft 120 will carry on the back frame 200 and left and right sides hip structure 300 and 400 and waist backplate 100 link together, three translational degree of freedom and two rotational freedoms have been limited, only remaining waist backplate is the rotational freedom of rotation axis with the jackshaft with respect to left and right sides hip structure, and the back of the body frame with respect to the waist backplate be the rotational freedom of rotation axis with the jackshaft, the vertical component of heavy burden can transmit downwards by jackshaft.
In order to limit the degree of freedom that relatively rotates between the back of the body frame, left and right sides hip structure and the waist backplate, between back of the body frame and left and right sides hip structure, the two-stage hookup is set, wherein carrying on the back between frame and the waist backplate is the one-level hookup, is the secondary hookup between waist backplate and the left and right sides hip structure.In the one-level hookup, be symmetrical plane with the jackshaft, be symmetrical set two one-level antivibrators 201 and 202.One end of each antivibrator connects by bearing pin, and it is axial fixing that bearing pin adopts shaft block ring to carry out, and makes axial motion for preventing antivibrator along installation shaft, at two end faces of antivibrator oscillating bearing a tapered sleeve is set respectively.
As shown in Figure 3, the main working parts of antivibrator is the dish spring of the mounted in pairs in the stretching tube, can play the effect of absorbing buffering; Simultaneously, the compression stress of dish spring directly acts on back of the body frame, can make heavy burden can only do small rotation with respect to jackshaft.The two ends of antivibrator are provided with oscillating bearing, for being threaded, can regulate two distances between the bearing centre arbitrarily between the bearing block at two ends and the antivibrator end plate, realize the accurate installation of antivibrator; Can overcome simultaneously the antivibrator two ends by the rotation of oscillating bearing uneven problem between the axis is installed.
In the secondary hookup between waist backplate and left and right sides hip structure, be symmetrical plane with the jackshaft still, be symmetrical set two secondary antivibrators 301 and 302.One end of left side antivibrator is connected by bearing pin with left hip structure, and the other end of left side antivibrator is connected by bearing pin with left side mount pad on the waist backplate.One end of right side antivibrator is connected by bearing pin with right hip structure, and the other end of right side antivibrator is connected by bearing pin with right side mount pad on the waist backplate.It is axial fixing that bearing pin adopts shaft block ring to carry out, and at two end faces of antivibrator oscillating bearing a tapered sleeve is set respectively, makes axial motion to prevent antivibrator along installation shaft.As shown in Figure 4: the secondary antivibrator is compared with the one-level antivibrator, and the stroke of secondary antivibrator is shorter, and locating distance is also shorter, but the support force unanimity that provides; All the other frame for movements of secondary antivibrator are identical with the one-level antivibrator.
Embodiment one
Adopt the structure of Fig. 1 and Fig. 2.Between ectoskeleton back of the body frame and left and right sides hip structure, the waist backplate is set, will carries on the back frame and left and right sides hip structure and waist backplate by jackshaft and link together.Between back of the body frame and the left and right sides hip structure two-stage hookup is set, wherein carrying on the back between frame and the waist backplate is the one-level hookup, is the secondary hookup between waist backplate and the left and right sides hip structure.Left-right symmetric respectively arranges an one-level antivibrator in the one-level hookup; The left side antivibrator two ends respectively with the waist backplate on left mount pad and the back of the body frame on the left of installing hole be connected by bearing pin, bearing pin adopts shaft block ring to carry out axial fixing, and the axial motion of a tapered sleeve restriction antivibrator respectively is set at two end faces of antivibrator oscillating bearing; The mounting means of right side antivibrator is identical with the left side antivibrator.Be the secondary hookup between waist backplate and the left and right sides hip structure, left-right symmetric respectively arranges a secondary antivibrator; The two ends of left side antivibrator are connected by bearing pin with left side mount pad on the waist backplate with left hip structure respectively, and the two ends of right side antivibrator are connected by bearing pin with right side mount pad on the waist backplate with right hip structure respectively; Bearing pin adopts shaft block ring to carry out axial fixing, and the axial motion of a tapered sleeve restriction antivibrator respectively is set at two end faces of antivibrator oscillating bearing.
Embodiment two
Adopt the structure of Fig. 1 and Fig. 2.The waist backplate is set as middle connecting device between ectoskeletal back of the body frame and left and right sides hip, three's common center axle connects.The main body of waist backplate is backplate, adopts high-strength aluminum alloy 2A12 material manufacture; For guarantee to paste with the human body waist and, the backplate two ends are big round-corner transition, are weight reduction, have six bar holes on the backplate.For realizing and being connected of antivibrator that backplate is provided with four mount pads, two on upper strata is used for and being connected of one-level antivibrator, two of lower floors for being connected of secondary antivibrator; Mount pad adopts high-strength aluminum alloy 2A12 to make, and is connected with adopting the mode of welding between the backplate.
Claims (3)
1. an assistance type ectoskeleton is with carrying on the back frame hip two-stage hookup, the buffering that is used in the ectoskeleton structure of man-machine portable system between back of the body frame and hip member connects, guarantee transmission and the man-machine motor coordination of external applied load, it is characterized in that, waist backplate (100) is set, and the waist backplate is provided with the two-stage coupling arrangement, and one is used for connecting with back of the body frame (200), comprise: an end of one-level antivibrator (201) is arranged on the waist backplate (100), and its other end connects with the left side of back of the body frame (200); One-level antivibrator (202) is symmetrical arranged, and connects with the right of back of the body frame (200); Another coupling arrangement is used for connecting with the hip member, comprise: an end of secondary antivibrator (301) is arranged on the waist backplate (100), its other end connects with left hip member (300), and another secondary antivibrator (302) is symmetrical arranged, and connects with right hip member (400); Waist backplate (100) middle part arranges central shaft (120), and back of the body frame (200), left hip member (300) and right hip member (400) are socketed on the central shaft.
2. assistance type ectoskeleton according to claim 1 is with carrying on the back frame hip two-stage hookup, it is characterized in that, described waist backplate (100) middle part arranges central shaft (120), back of the body frame (200), left hip member (300) and right hip member (400) are socketed on the central shaft (120), and can rotate by a small margin around central shaft (120).
3. assistance type ectoskeleton according to claim 1 is with carrying on the back frame hip two-stage hookup, it is characterized in that, described one-level antivibrator mainly is made of oscillating bearing (1), bearing block (2), pull bar (3), end retaining (4), stretching tube (5), dish spring (6), end retaining (7), nut (8), bearing block (9), and oscillating bearing is installed on respectively in bearing block (1) and the bearing block (2) by interference fit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201320085341 CN203122695U (en) | 2013-02-25 | 2013-02-25 | Frame carrier hip part two-stage coupling device for assistance type exoskeleton |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201320085341 CN203122695U (en) | 2013-02-25 | 2013-02-25 | Frame carrier hip part two-stage coupling device for assistance type exoskeleton |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103142332A (en) * | 2013-02-25 | 2013-06-12 | 西南交通大学 | Assistance type coupling device used between back frame and hip part of exoskeleton |
| CN106333829A (en) * | 2016-09-20 | 2017-01-18 | 合肥工业大学 | Ectoskeletal multi-degree-of-freedom lower limb rehabilitation power-assisted mechanism |
| CN108312127A (en) * | 2017-01-18 | 2018-07-24 | 南京拓步智能科技有限公司 | A kind of linkage controlled suitable for humanoid robot joint freedom degrees with limitation |
| CN111655432A (en) * | 2017-11-09 | 2020-09-11 | 斯图加特大学 | Exoskeleton system, control device and method |
| CN114832392A (en) * | 2019-08-07 | 2022-08-02 | 株式会社万代 | Joint structure and human body |
-
2013
- 2013-02-25 CN CN 201320085341 patent/CN203122695U/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103142332A (en) * | 2013-02-25 | 2013-06-12 | 西南交通大学 | Assistance type coupling device used between back frame and hip part of exoskeleton |
| CN106333829A (en) * | 2016-09-20 | 2017-01-18 | 合肥工业大学 | Ectoskeletal multi-degree-of-freedom lower limb rehabilitation power-assisted mechanism |
| CN108312127A (en) * | 2017-01-18 | 2018-07-24 | 南京拓步智能科技有限公司 | A kind of linkage controlled suitable for humanoid robot joint freedom degrees with limitation |
| CN111655432A (en) * | 2017-11-09 | 2020-09-11 | 斯图加特大学 | Exoskeleton system, control device and method |
| US11697201B2 (en) | 2017-11-09 | 2023-07-11 | Universitaet Stuttgart | Exoskeleton system, control device, and method |
| CN111655432B (en) * | 2017-11-09 | 2024-02-23 | 斯图加特大学 | Exoskeleton system, control device and method |
| CN114832392A (en) * | 2019-08-07 | 2022-08-02 | 株式会社万代 | Joint structure and human body |
| CN114832392B (en) * | 2019-08-07 | 2024-03-22 | 株式会社万代 | Joint structure and human body |
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Granted publication date: 20130814 Effective date of abandoning: 20141224 |
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