CN204709093U - A kind of separate type exoskeleton system - Google Patents

A kind of separate type exoskeleton system Download PDF

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Publication number
CN204709093U
CN204709093U CN201520326759.9U CN201520326759U CN204709093U CN 204709093 U CN204709093 U CN 204709093U CN 201520326759 U CN201520326759 U CN 201520326759U CN 204709093 U CN204709093 U CN 204709093U
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CN
China
Prior art keywords
ectoskeleton
human
monitoring
support
tights
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Expired - Fee Related
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CN201520326759.9U
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Chinese (zh)
Inventor
杜宇航
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杜宇航
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Priority to CN201520326759.9U priority Critical patent/CN204709093U/en
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Publication of CN204709093U publication Critical patent/CN204709093U/en
Expired - Fee Related legal-status Critical Current
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Abstract

This utility model relates to a kind of separate type exoskeleton system, comprise ectoskeleton, ectoskeleton can be fixed on the bellyband on human body, control the power executing device of ectoskeleton activity, for power executing device provides the power supply of electric energy, power executing device is realized to the electric-controlled plate automatically controlled, for the monitoring device of monitoring human lower limb movement with for monitoring device being worn on the tights on human body; Described ectoskeleton and bellyband hinged, this exoskeleton system can ensure that user can free movable leg by a small margin, and the rotational potentiometer be arranged in tights carrys out Control PID ring by the action of human body leg closes feedback module, ring closes feedback module drive motors, makes ectoskeleton keep synchronous with human body.This man-machine interactive system due to controller be in tights, the man-machine movement interference of separation is very little, and in the delay of walking, can be overcome by the study of user completely, body has influence on working sensor at the volley hardly.

Description

A kind of separate type exoskeleton system
Technical field
This utility model relates to a kind of medical treatment, military affairs, rescue, emergency device, especially a kind of separate type exoskeleton system.
Background technology
In many cases, ordinary people usually can lot of energy when walking or bear a heavy burden, along with the development of science and technology, present soldier perform in combat duty entrained except weapons and ammunitions, needed for other equipment of carrying also get more and more, and the physical ability of people is certain, its physical ability will certainly be consumed in a large number in the processes such as march, finally can badly influence the performance of the fighting capacity at other crucial moment, therefore need to help people to save physical ability by ectoskeleton, but there is many defects in conventional body's ectoskeleton equipment: what traditional ectoskeleton equipment adopted usually is intelligent human-machine interaction system, need the hardware-software support of high-precision sensor and data volume process greatly, cause exoskeleton mechanism too fat to move, cost is high, the low inferior defect of practicality, people and ectoskeleton look as a whole by tradition ectoskeleton, and therefore ectoskeleton must Accurate Measurement each motion of the human body that follows up.But in the man-machine portable motion of the ectoskeleton of reality, compact man-machine globality can cause resonance, and these resonance can affect Accurate Measurement and the Treatment Analysis of sensor; Complicated electronic component causes ectoskeleton short for service life, and be unable to undergo to jolt, practicality is low, and electronic component is once damage maintenance cost is high.
Utility model content
The technical problem that this utility model mainly solves is to provide one can improve ectoskeleton performance, reduces costs, and reduces exoskeleton mechanism complexity, improves the separate type ectoskeleton control system of organism stability.
This utility model is achieved through the following technical solutions: a kind of separate type exoskeleton system, comprise ectoskeleton, ectoskeleton can be fixed on the bellyband on human body, control the power executing device of ectoskeleton activity, for power executing device provides the power supply of electric energy, power executing device is realized to the electric-controlled plate automatically controlled, for the monitoring device of monitoring human lower limb movement with for monitoring device being worn on the tights on human body; Described ectoskeleton and bellyband hinged.
Described ectoskeleton comprises the hip support member of hinge connections, thigh support part, shank support member and foot support, and the top of described hip support member is provided with the mounting box for being connected with bellyband.
Described power executing device comprises motor and gear transmission part, the upper and lower end of thigh support part and the lower end of shank support member are fixed with motor respectively, the output shaft of motor is provided with drive bevel gear, and described hip support member is provided with the driven wheel of differential that can engage with drive bevel gear; Described shank support member and foot support are provided with driven spur gear, and driven spur gear is engaged with drive bevel gear by drive bevel gear.
Described driven wheel of differential and driven spur gear are arranged in rotating shaft by bearing, and rotating shaft and ectoskeleton are connected.
Described monitoring device is arranged on human hip position and knee joint position, and is inlaid in tights, is respectively used to the kinestate of monitoring thigh and shank; Described monitoring device comprises the chute guide rail of the joint upper and lower sides that is placed in, and described chute guide rail is connected with tights respectively, is slidably connected with slide bar respectively in chute guide rail, and two sections of slide bars are hinged, and hinged place is provided with rotational potentiometer.
Described electric-controlled plate is arranged on ectoskeleton, and electric-controlled plate is connected by data wire with rotational potentiometer and motor.
Described power supply connects electric-controlled plate, motor and rotational potentiometer by wire respectively.
Described power supply is provided with power supply bag, and the top of power supply bag is provided with the inverted U-shaped shoulder Backpack device that two can be stuck in shoulders of human body.
Described motor is arranged on ectoskeleton by L bracket.
Can splendid attire survival aids in described power supply bag.
The beneficial effects of the utility model are: a kind of separate type exoskeleton system, can ensure that user can free movable leg by a small margin, and the rotational potentiometer be arranged in tights carrys out Control PID ring by the action of human body leg closes feedback module, ring closes feedback module drive motors, makes ectoskeleton keep synchronous with human body.This man-machine interactive system due to controller be in tights, the man-machine movement interference of separation is very little, and in the delay of walking, can be overcome by the study of user completely, body has influence on working sensor at the volley hardly.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, this utility model is further described.
Fig. 1 be a kind of separate type exoskeleton system face structural representation.
Fig. 2 is a kind of side view of separate type exoskeleton system.
Fig. 3 is the structural representation of monitoring device.
Fig. 4 is monitoring device monitoring state structural representation.
In figure, 1. ectoskeleton, 1-1. hip support member, 1-2. thigh support part, 1-3. shank support member, 1-4. foot support, 2. bellyband, 3. power executing device, 3-1. motor, 3-2. drive bevel gear, 3-3. driven wheel of differential, 3-4. drive bevel gear, the driven spur gear of 3-5., 4. power supply, 5. tights, 6. electric-controlled plate, 7. monitoring device, 7-1. chute guide rail, 7-2. slide bar, 7-3. rotational potentiometer, 8. power supply bag, 9. shoulder Backpack device.
Detailed description of the invention
In the accompanying drawings, a kind of separate type exoskeleton system, comprise ectoskeleton 1, ectoskeleton 1 can be fixed on the bellyband 2 on human body, control the power executing device 3 of ectoskeleton 1 activity, for power executing device 3 provides the power supply 4 of electric energy, power executing device 3 is realized to the electric-controlled plate 6 automatically controlled, for the monitoring device 7 of monitoring human lower limb movement with for monitoring device being worn on the tights 5 on human body; Described ectoskeleton 1 is hinged with bellyband 2.
Described ectoskeleton 1 comprises hip support member 1-1, thigh support part 1-2, the shank support member 1-3 and foot support 1-4 of hinge connections, and the top of described hip support member 1-1 is provided with the mounting box for being connected with bellyband 2.
Described power executing device 3 comprises motor 3-1 and gear transmission part, the upper and lower end of thigh support part 1-2 and the lower end of shank support member 1-3 are fixed with motor 3-1 respectively, the output shaft of motor 3-1 is provided with drive bevel gear 3-2, and described hip support member 1-1 is provided with the driven wheel of differential 3-3 that can engage with drive bevel gear 3-2; Described shank support member 1-3 and foot support 1-4 is provided with driven spur gear 3-5, and driven spur gear 3-5 is engaged with drive bevel gear 3-2 by drive bevel gear 3-4.
Described driven wheel of differential 3-3 and driven spur gear 3-5 is arranged in rotating shaft by bearing, and rotating shaft and ectoskeleton 1 are connected.
Described monitoring device 7 is arranged on human hip position and knee joint position, and is inlaid in tights 5, is respectively used to the kinestate of monitoring thigh and shank; Described monitoring device 7 comprises the chute guide rail 7-1 of the joint upper and lower sides that is placed in, described chute guide rail 7-1 is connected with tights 5 respectively, be slidably connected with slide bar 7-2 respectively in chute guide rail 7-1, two sections of slide bar 7-2 are hinged, and hinged place is provided with rotational potentiometer 7-3.
Described electric-controlled plate 6 is arranged on ectoskeleton 1, and electric-controlled plate 6 is connected by data wire with rotational potentiometer 7-3 and motor 7-1.
Described power supply 4 connects electric-controlled plate 6, motor 7-1 and rotational potentiometer 7-3 by wire respectively.
Described power supply 4 is provided with power supply bag 8, and the top of power supply bag 8 is provided with the inverted U-shaped shoulder Backpack device 9 that two can be stuck in shoulders of human body.
Described motor 3-1 is arranged on ectoskeleton 1 by L bracket.
Can splendid attire survival aids in described power supply bag 8.
During use, monitoring device 7 is close to human body with tights 5, monitoring human kinestate, when human motion, human synovial rotational angle accurately sends level signal by rotational potentiometer 7-3, and Control PID ring closes feedback module, and ring closes feedback module drive motors 3-1, make ectoskeleton 1 keep synchronous with human body, eliminate complicated high-precision sensor and the software and hardware of ambiguous interpretation level signal.And ectoskeleton is connected with human body lower limbs by means of only hip support member, reduces fixing human and ectoskeletal obligatory point, make the knee joint of human body in ectoskeleton 1 still can provide activity space by a small margin.

Claims (3)

1. a separate type exoskeleton system, it is characterized in that, comprise ectoskeleton, ectoskeleton can be fixed on the bellyband on human body, control the power executing device of ectoskeleton activity, for power executing device provides the power supply of electric energy, power executing device is realized to the electric-controlled plate automatically controlled, for the monitoring device of monitoring human lower limb movement with for monitoring device being worn on the tights on human body; Described ectoskeleton and bellyband hinged; Described ectoskeleton comprises the hip support member of hinge connections, thigh support part, shank support member and foot support; Described power executing device comprises motor and gear transmission part, the upper and lower end of thigh support part and the lower end of shank support member are fixed with motor respectively, the output shaft of motor is provided with drive bevel gear, and described hip support member is provided with the driven wheel of differential that can engage with drive bevel gear; Described shank support member and foot support are provided with driven spur gear, and driven spur gear is engaged with drive bevel gear by drive bevel gear; Described monitoring device is arranged on human hip position and knee joint position, and is inlaid in tights; Described monitoring device comprises the chute guide rail of the joint upper and lower sides that is placed in, and described chute guide rail is connected with tights respectively, is slidably connected with slide bar respectively in chute guide rail, and two sections of slide bars are hinged, and hinged place is provided with rotational potentiometer; Described electric-controlled plate is arranged on ectoskeleton, and electric-controlled plate is connected by data wire with rotational potentiometer and motor; Described power supply connects electric-controlled plate, motor and rotational potentiometer by wire respectively; Described power supply is provided with power supply bag, and the top of power supply bag is provided with the inverted U-shaped shoulder Backpack device that two can be stuck in shoulders of human body.
2. a kind of separate type exoskeleton system according to claim 1, is characterized in that, described driven wheel of differential and driven spur gear are arranged in rotating shaft by bearing, and rotating shaft and ectoskeleton are connected.
3. a kind of separate type exoskeleton system according to claim 1, it is characterized in that, described motor is arranged on ectoskeleton by L bracket.
CN201520326759.9U 2015-05-20 2015-05-20 A kind of separate type exoskeleton system Expired - Fee Related CN204709093U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520326759.9U CN204709093U (en) 2015-05-20 2015-05-20 A kind of separate type exoskeleton system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201520326759.9U CN204709093U (en) 2015-05-20 2015-05-20 A kind of separate type exoskeleton system

Publications (1)

Publication Number Publication Date
CN204709093U true CN204709093U (en) 2015-10-21

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201520326759.9U Expired - Fee Related CN204709093U (en) 2015-05-20 2015-05-20 A kind of separate type exoskeleton system

Country Status (1)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105903135A (en) * 2016-05-26 2016-08-31 成都润惠科技有限公司 Exoskeleton device easy to wear and disassemble
CN107877491A (en) * 2017-11-08 2018-04-06 朱培章 Mechanical exoskeleton

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105903135A (en) * 2016-05-26 2016-08-31 成都润惠科技有限公司 Exoskeleton device easy to wear and disassemble
CN107877491A (en) * 2017-11-08 2018-04-06 朱培章 Mechanical exoskeleton

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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
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20151021

Termination date: 20160520