CN205094945U - Helping hand ectoskeleton - Google Patents
Helping hand ectoskeleton Download PDFInfo
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- CN205094945U CN205094945U CN201520837085.9U CN201520837085U CN205094945U CN 205094945 U CN205094945 U CN 205094945U CN 201520837085 U CN201520837085 U CN 201520837085U CN 205094945 U CN205094945 U CN 205094945U
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- permanent magnet
- rolling wheel
- tooth
- upper limb
- coil
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Abstract
The utility model provides a helping hand ectoskeleton, include: upper limbs assist drive device, upper limbs drive belt and arm transmission. Upper limbs assist drive device includes power, first motor and a transmission. Arm transmission is including increasing journey axle, upper limbs driving rope and bracelet. The one end and a transmission of upper limbs drive belt are connected, the other end of upper limbs drive belt with increase the journey hub connection, the one end of upper limbs driving rope and the end connection who increases the journey axle, the other end and the bracelet of upper limbs driving rope are connected. Driving the tip that a transmission and upper limbs drive belt be connected by the power after first motor is driven and rotating, the upper limbs drive belt rotates to drive and increases the journey axle and rotate, increase the journey axle and rotate and drive the upper limbs driving rope and tighten up, thereby it overlaps the wrist in the bracelet to promote the bracelet promotion after the upper limbs driving rope tightens up. The utility model discloses a compare with the current ectoskeleton that has joint structure, technique and production technology are more succinct, have bigger civilian value.
Description
Technical field
This utility model relates to power-driven tool field, in particular to a kind of assistance exoskeleton.
Background technology
Existing mechanical exoskeleton can be popular be understood as wearable robot, it has mechanical limb and articulation structure, limbs are manufactured by metal material and are connected by each mechanical joint, each mechanical joint drives by the motor or hydraulic means being arranged on joint, mechanical joint driving device limbs drive the limb motion of wearer, thus reach power-assisted effect.Existing mechanical exoskeleton owing to being rigid structure, and fits tightly with wearer, so its motion mode must be identical with the motion mode of people, is a kind of equipment very high to human-computer interaction requirement.Realize the technical barrier that smooth power-assisted faces in control system and dynamical system very complicated, therefore mechanical exoskeleton belongs to the high-tech product of high cost, and practical value is lower.
Utility model content
In view of this, this utility model provides a kind of assistance exoskeleton, by end connection for transmission rope or the soft band of actuating device, and by transmission rope or soft band to the limbs of wearer as wrist, lower back control the effect playing power-assisted, to improve the deficiency that existing high-tech product cost is higher, practical value is lower.
For achieving the above object, this utility model provides following technical scheme:
A kind of assistance exoskeleton, comprise upper limb servomechanism, upper limb driving-belt and arm actuating device, described upper limb servomechanism comprises power supply, first motor and the first actuating device, described arm actuating device comprises increasing journey axle, upper limb transmission rope and hands ring, one end of described upper limb driving-belt is connected with described first actuating device, the other end of described upper limb driving-belt is connected with described increasing journey axle, one end of described upper limb transmission rope is connected with the end of described increasing journey axle, the other end of described upper limb transmission rope is connected with described bracelet, described first motor drives the end that described in rear drive, the first actuating device is connected with described upper limb driving-belt to rotate by described power supply, described upper limb driving-belt rotates and drives described increasing journey axle to rotate, in use, described upper limb servomechanism is dressed in the back of human body, described bracelet is placed on wrist place, described increasing journey axle rotates and drives described upper limb transmission rope to tighten up, described upper limb transmission rope tightens up the described bracelet of rear lifting thus promotes the wrist be placed in bracelet.
Preferably, in above-mentioned assistance exoskeleton, described first actuating device comprises the first bevel gear, second bevel gear, first connecting axle, second connecting axle, first permanent magnet, second permanent magnet, first coil, second coil, first rolling wheel and the second rolling wheel, described first bevel gear is fixed on by described first motor-driven first connecting axle, described first connecting axle extends along first direction, described second bevel gear is fixed on described second connecting axle, described second connecting axle extends along the second direction perpendicular to described first direction, described second bevel gear is meshed with described first bevel gear, described first permanent magnet is arranged at one end of described second connecting axle, described second permanent magnet is arranged at the other end of described second connecting axle, the side away from described second permanent magnet of described first permanent magnet is provided with concavo-convex the first alternate end-tooth, described first rolling wheel, the axis of the second connecting axle and described second rolling wheel is positioned at same straight line, one end that described first rolling wheel is relative with the first end-tooth of described first permanent magnet is provided with the second end-tooth matched with described first end-tooth, described first coil is arranged between described first permanent magnet and described first rolling wheel, described second permanent magnet is provided with concavo-convex the 3rd alternate end-tooth in the side away from described first permanent magnet, one end that described second rolling wheel is relative with described 3rd end-tooth is provided with the 4th end-tooth matched with described 3rd end-tooth, described second coil is arranged between described second permanent magnet and described second rolling wheel.
The mode transmission of described first actuating device mainly through rotating, saves space, can reduce the volume of described upper limb servomechanism, is convenient to dress.
Preferably, in above-mentioned assistance exoskeleton, described arm actuating device also comprises aluminum corner brace, first cantilever, second cantilever, first fixed pulley, second fixed pulley, first-hand collar bearing and second-hand's collar bearing, described aluminum corner brace also comprises the first aluminum corner brace portion and the second aluminum corner brace portion, described increasing journey axle comprises the first increasing journey axle and second and increases journey axle, described upper limb driving-belt also comprises the first upper limb driving-belt and the second upper limb driving-belt, described upper limb transmission rope comprises the first upper limb transmission rope and the second upper limb transmission rope, described bracelet comprises the first bracelet and the second bracelet, described first bracelet is arranged at described first-hand collar bearing inside and described first bracelet can rotate relative to described first-hand collar bearing, described second bracelet is arranged at described second-hand's collar bearing inside and described second bracelet can rotate relative to described second-hand's collar bearing, described first increasing journey axle and described second increases journey axle and is installed in described first aluminum corner brace portion and described second aluminum corner brace portion respectively, described first increases journey axle can rotate relative to described first aluminum corner brace portion, described second increases journey axle can rotate relative to described second aluminum corner brace portion equally, one end of described first cantilever is fixedly connected with described first aluminum corner brace portion, described first cantilever is provided with described first fixed pulley away from the one end in described first aluminum corner brace portion, described first upper limb transmission rope is connected with described first-hand collar bearing via described first fixed pulley, one end of described second cantilever is fixedly connected with described second aluminum corner brace portion, described second cantilever is provided with described second fixed pulley away from the one end in described second aluminum corner brace portion, described second upper limb transmission rope is connected with described second-hand's collar bearing via described second fixed pulley.
When needs power-assisted, described upper limb driving-belt rotates to drive and increases the rotation of journey axle, because the end of described increasing journey axle is connected with described upper limb transmission rope, described upper limb transmission rope is connected with described bracelet bearing via described fixed pulley, therefore the rotation of described increasing journey axle drives described upper limb transmission rope to tighten up.Make described fixed pulley rotate and promote described bracelet bearing, because described bracelet is arranged at the inside of described bracelet bearing, and the wrist of people can be inserted in described bracelet, and the hands of old friend can be raised along with the lifting of bracelet.
Preferably, in above-mentioned assistance exoskeleton, the inside of described first rolling wheel is provided with fixed axis and wind spring, the fixed axis of described first rolling wheel is arranged at the axle center of described first rolling wheel, described first rolling wheel is connected with described fixed axis by described wind spring, and the structure of described second rolling wheel is identical with the structure of described first rolling wheel.
When described first rolling wheel and the second rolling wheel be not by driving, the trend of rebound of described wind spring can make the soft band of described upper limb be in the state tightened all the time, makes to there will not be left and right wrist to lift nonsynchronous situation when lifting wrist.
Preferably, in above-mentioned assistance exoskeleton, described first bracelet comprises the first button, described first coil, second coil is connected with described power supply respectively with described first button, when described first button is not pressed, described first coil and the second coil are connected with the electric current producing repulsion force with the first permanent magnet and the second permanent magnetism physical ability respectively, described first permanent magnet is separated with the second rolling wheel with the first rolling wheel respectively with the second permanent magnet, when described first button is pressed, described first coil and the second coil are connected with the electric current producing attraction force with the first permanent magnet and the second permanent magnetism physical ability respectively, the mode that described first permanent magnet is meshed by described first end-tooth and the second end-tooth is connected with described first rolling wheel, the mode that described second permanent magnet is meshed by described 3rd end-tooth and the 4th end-tooth is connected with described second rolling wheel.
Freely can control slave mode and freely-movable state by the button at wrist place, increase the property easy to use of this product.
This utility model additionally provides a kind of assistance exoskeleton, comprise lower limb servomechanism and the soft band of lower limb, described lower limb servomechanism comprises power supply, second motor, second actuating device, leg fixed part, collapsible draft arm, soft V belt translation arm, one end of described collapsible draft arm is connected with described leg fixed part, the other end of described collapsible draft arm is connected with described soft V belt translation arm, described soft V belt translation arm comprises support portion and driving section, described driving section is connected by soft being with of described lower limb with described second actuating device, described second motor drives rotating with the soft end be connected of being with of described lower limb of the second actuating device described in rear drive by described power supply, so that soft for described lower limb band winding is tightened up, during use, described power supply, second motor and the second actuating device are fixed on the back of people, described support portion can contact with the back of people, described collapsible draft arm can be conditioned to make described soft V belt translation arm be positioned at the position corresponding with described second actuating device.
Preferably, in above-mentioned assistance exoskeleton, described second actuating device comprises third hand tap gear, 4th bevel gear, 3rd connecting axle, 4th connecting axle, 3rd permanent magnet, 4th permanent magnet, tertiary coil, 4th coil, 3rd rolling wheel and Volume Four wheel, described third hand tap gear is fixed on by the second motor-driven 3rd connecting axle, described 3rd connecting axle extends along first direction, described 4th bevel gear is fixed on the 4th connecting axle, described 4th connecting axle extends along the second direction perpendicular to first direction, described 4th bevel gear is meshed with described third hand tap gear, described 3rd permanent magnet is arranged at one end of described 4th connecting axle, described 4th permanent magnet is arranged at the other end of described 4th connecting axle, the side away from described 4th permanent magnet of described 3rd permanent magnet is provided with concavo-convex the 5th alternate end-tooth, described 3rd rolling wheel, the axis of the 4th connecting axle and described Volume Four wheel is positioned at same straight line, one end that described 3rd rolling wheel is relative with the 5th end-tooth of described 3rd permanent magnet is provided with the 6th end-tooth matched with described 5th end-tooth, described tertiary coil is arranged between described 3rd permanent magnet and described 3rd rolling wheel, described 4th permanent magnet is provided with concavo-convex the 7th alternate end-tooth in the side away from described 3rd permanent magnet, wheel one end relative with described 7th end-tooth, described Volume Four is provided with the 8th end-tooth matched with described 7th end-tooth, described 4th coil is arranged between described 4th permanent magnet and described Volume Four wheel.
The mode transmission of described second actuating device mainly through rotating, saves space, can reduce the volume of described lower limb servomechanism, is convenient to dress.
Preferably, in above-mentioned assistance exoskeleton, the soft band of described lower limb comprises the soft band of the first lower limb and the soft band of the second lower limb, the driving section of described soft V belt translation arm comprises the first driving section and the second driving section, one end of the soft band of described first lower limb is connected with described 3rd rolling wheel, the other end of the soft band of described first lower limb is connected with described first driving section, and one end of the soft band of described second lower limb is taken turns with described Volume Four and is connected, and the other end of the soft band of described second lower limb is connected with described second driving section.
Described 3rd rolling wheel and Volume Four wheel rotational drive the soft band of described first lower limb and the soft band of the second lower limb to tighten up, thus further and the distance of described soft V belt translation arm, thus reach the object of waist pull-up.
Preferably, in above-mentioned assistance exoskeleton, when described tertiary coil and the 4th coil be connected with respectively produce the electric current of repulsion force with the 3rd permanent magnet and the 4th permanent magnetism physical ability time, described 3rd permanent magnet and the 4th permanent magnet are taken turns with Volume Four with the 3rd rolling wheel respectively and are separated, when described tertiary coil and the 4th coil be connected with respectively produce the electric current of attraction force with the 3rd permanent magnet and the 4th permanent magnetism physical ability time, the mode that described 3rd permanent magnet is meshed by described 5th end-tooth and the 6th end-tooth is connected with described 3rd rolling wheel, the mode that described 4th permanent magnet is meshed by described 7th end-tooth and the 8th end-tooth is taken turns with described Volume Four and is connected.
The permanent magnet portion of described second actuating device can be in rotary state when being controlled, whether described 3rd rolling wheel and Volume Four wheel are meshed with the 3rd corresponding permanent magnet and the 4th permanent magnet and determine described lower limb servomechanism and be in slave mode or freely-movable state, do not need frequently to wear or unload this lower limb servomechanism, easy to use.
Preferably, in above-mentioned assistance exoskeleton, the inside of described 3rd rolling wheel is provided with fixed axis and wind spring, the fixed axis of described 3rd rolling wheel is arranged at the axle center of described 3rd rolling wheel, described 3rd rolling wheel is connected with described fixed axis by described wind spring, and the structure of described Volume Four wheel is identical with the structure of described 3rd rolling wheel.
When described 3rd rolling wheel and Volume Four wheel be not by driving, the trend of rebound of described wind spring can make the soft band of described upper limb be in the state tightened all the time, makes to there will not be left and right wrist to lift nonsynchronous situation when lifting wrist.
This utility model provides a kind of assistance exoskeleton, by end connection for transmission rope or the soft band of actuating device, and by transmission rope or soft band to the limbs of wearer as wrist, lower back control the effect playing power-assisted.Can play power-assisted effect in the carrying that demand is more in people's life of this utility model, compared with existing mechanical exoskeleton, cost is lower, has larger practical value.
Accompanying drawing explanation
In order to clearer explanation this utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of the first embodiment of the assistance exoskeleton that this utility model embodiment provides;
Fig. 2 is the part-structure schematic diagram of the drive state of the first actuating device of the first embodiment of the assistance exoskeleton that this utility model embodiment provides;
Fig. 3 is the part-structure schematic diagram of the halted state of the first actuating device of the first embodiment of the assistance exoskeleton that this utility model embodiment provides;
Fig. 4 is the structural representation of the second embodiment of the assistance exoskeleton that this utility model embodiment provides;
Fig. 5 is the part-structure schematic diagram of the second actuating device of the second embodiment of the assistance exoskeleton that this utility model embodiment provides;
Fig. 6 is the structural representation of the 3rd embodiment of the assistance exoskeleton that this utility model embodiment provides;
Fig. 7 is the part-structure schematic diagram of the actuating device of the 3rd embodiment of the assistance exoskeleton that this utility model embodiment provides.
Wherein, Reference numeral gathers as follows:
Upper limb servomechanism 100; Upper limb driving-belt 110; First upper limb driving-belt 111; Second upper limb driving-belt 112; Power supply 120; First motor 130; First actuating device 140; First bevel gear 141; Second bevel gear 142; First connecting axle 143; Second connecting axle 144; First permanent magnet 145; Second permanent magnet 146; First end-tooth 147; Second end-tooth 148; First rolling wheel 149; Second rolling wheel 150; Increase journey axle 152; First increases journey axle 153; Second increases journey axle 154; 3rd end-tooth 155; 4th end-tooth 156; Bracelet 161; First bracelet 162; Second bracelet 163; Upper limb transmission rope 170; First aluminum corner brace portion 180; Second aluminum corner brace portion 181; First cantilever 182; Second cantilever 183; First fixed pulley 184; Second fixed pulley 185; First-hand collar bearing 186; Second-hand's collar bearing 187;
Lower limb servomechanism 200; The soft band 210 of lower limb; The soft band 211 of first lower limb; The soft band 212 of second lower limb; Second motor 220; Leg fixed part 230; Collapsible draft arm 240; Soft V belt translation arm 250; First soft V belt translation arm 251; Second soft V belt translation arm 252; Support portion 253; Driving section 254; First driving section 255; Second driving section 256; Second actuating device 260; Third hand tap gear 261; 4th bevel gear 262; 3rd connecting axle 263; 4th connecting axle 264; 3rd permanent magnet 265; 4th permanent magnet 266; 5th end-tooth 267; 6th end-tooth 268; 3rd rolling wheel 269; Volume Four wheel 270; 7th end-tooth 271; 8th end-tooth 272.
Detailed description of the invention
Below in conjunction with accompanying drawing in this utility model embodiment, be clearly and completely described the technical scheme in this utility model embodiment, obviously, described embodiment is only this utility model part embodiment, instead of whole embodiments.Below to the detailed description of the embodiment of the present utility model provided in the accompanying drawings and the claimed scope of the present utility model of not intended to be limiting, but only represent selected embodiment of the present utility model.Based on embodiment of the present utility model, the every other embodiment that those skilled in the art obtain under the prerequisite not making creative work, all belongs to the scope of this utility model protection.
Refer to Fig. 1 to Fig. 3, Fig. 1, Fig. 2 and Fig. 3 collectively illustrate a kind of assistance exoskeleton that the first embodiment of the present utility model provides, and comprise upper limb servomechanism 100, upper limb driving-belt 110 and arm actuating device.Described upper limb servomechanism 100 comprises power supply 120, first motor 130 and the first actuating device 140.Described arm actuating device comprises increasing journey axle 152, upper limb transmission rope 170 and bracelet 161.One end of described upper limb driving-belt 110 is connected with described first actuating device 140, and the other end of described upper limb driving-belt 110 is connected with described increasing journey axle 152.One end of described upper limb transmission rope 170 is connected with the end of described increasing journey axle 152, the other end of described upper limb transmission rope 170 is connected with described bracelet 161, the end that described first motor 130 drives the first actuating device 140 described in rear drive to be connected with described upper limb driving-belt 110 by described power supply 120 is rotated, and described upper limb driving-belt 110 rotates and drives described increasing journey axle 152 to rotate.In use, described upper limb servomechanism 100 is dressed in the back of human body, described bracelet 161 is placed on wrist place, and described increasing journey axle 152 rotates and drives described upper limb transmission rope 170 to tighten up, and described upper limb transmission rope 170 tightens up the described bracelet 161 of rear lifting thus promotes the wrist be placed in bracelet 161.
In a kind of detailed description of the invention of the present embodiment, specifically can see Fig. 2, described first actuating device 140 specifically comprises the first bevel gear 141, second bevel gear 142, first connecting axle 143, second connecting axle 144, first permanent magnet 145, second permanent magnet 146, first rolling wheel 149, second rolling wheel 150, first coil (not shown) and the second coil (not shown).Described first connecting axle 143 extends along first direction and is driven by described first motor 130, and above-mentioned first direction can be perpendicular to the direction on ground.Described first bevel gear 141 is fixed on described first connecting axle 143, and described second bevel gear 142 is fixed on described second connecting axle 144.Described second connecting axle 144 extends along the second direction perpendicular to described first direction, and second direction can be the direction with plane-parallel.Described second bevel gear 142 is meshed with described first bevel gear 141, and described second bevel gear 142 is rotated along with the rotation of the first bevel gear 141.
First permanent magnet 145 is arranged at one end of described second connecting axle 144, and described second permanent magnet 146 is arranged at the other end of the second connecting axle 144.The side away from described second permanent magnet 146 of described first permanent magnet 145 is provided with concavo-convex the first alternate end-tooth 147.The axis of described first rolling wheel 149, second connecting axle 144 and described second rolling wheel 150 is positioned at same straight line, and one end that described first rolling wheel 149 is relative with the first end-tooth 147 of the first permanent magnet 145 is provided with the second end-tooth 148 matched with the first end-tooth 147.Because the first end-tooth 147 is meshed with the second end-tooth 148, therefore the first rolling wheel 149 can by described first permanent magnet 145 transmission.First coil is arranged between described first permanent magnet 145 and described first rolling wheel 149, and the first coil does not illustrate in the drawings.
Described second permanent magnet 146 is provided with concavo-convex the 3rd alternate end-tooth 155 in the side away from described first permanent magnet 145, and one end that described second rolling wheel 150 is relative with the 3rd end-tooth 155 is provided with the 4th end-tooth 156 matched with the 3rd end-tooth 155.Because the 3rd end-tooth 155 is meshed with the 4th end-tooth 156, therefore the second rolling wheel 150 can by described second permanent magnet 146 transmission.Described second coil is arranged between described second permanent magnet 146 and described second rolling wheel 150, and described second coil does not illustrate in the drawings.
Being appreciated that this upper limb servomechanism 100 can be dressed on the body of people as back of the body both shoulders bag, also can being dressed on the body of people as wearing vest.Fabric such as braces, button etc. for being connected with human body do not illustrate in the drawings, should not be construed restriction of the present utility model with the connected mode of human body.Said elements in use, is positioned at the position corresponding with human body back.
Particularly, described arm actuating device also comprises aluminum corner brace, the first cantilever 182, second cantilever 183, first fixed pulley 184, second fixed pulley 185, first-hand collar bearing 186 and second-hand's collar bearing 187, described aluminum corner brace comprises the first aluminum corner brace portion 180 and the second aluminum corner brace portion 181, and details refer to Fig. 1.Described increasing journey axle 152 comprises the first increasing journey axle 153 and second and increases journey axle 154, described upper limb driving-belt 110 also comprises the first upper limb driving-belt 111 and the second upper limb driving-belt 112, described upper limb transmission rope 170 comprises the first upper limb transmission rope 170 and the second upper limb transmission rope 170, and described bracelet 161 comprises the first bracelet 162 and the second bracelet 163.
Described first bracelet 162 is arranged at described first-hand collar bearing 186 inside and described first bracelet 162 can rotate relative to described first-hand collar bearing 186; Described second bracelet 163 is arranged at described second-hand's collar bearing 187 inside and described second bracelet 163 can rotate relative to described second-hand's collar bearing 187.Described first increasing journey axle 153 and described second increasing journey axle 154 are installed in described first aluminum corner brace portion 180 and described second aluminum corner brace portion 181 respectively.Described first increases journey axle 153 can rotate relative to described first aluminum corner brace portion 180, and described second increases journey axle 154 can rotate relative to described second aluminum corner brace portion 181 equally.One end of described first cantilever 182 is fixedly connected with described first aluminum corner brace portion 180, and described first cantilever 182 is provided with described first fixed pulley 184 away from the one end in described first aluminum corner brace portion 180.Described first upper limb transmission rope 170 is connected with described first-hand collar bearing 186 via described first fixed pulley 184.One end of described second cantilever 183 is fixedly connected with described second aluminum corner brace portion 181, and described second cantilever 183 is provided with described second fixed pulley 185 away from the one end in described second aluminum corner brace portion 181.Described second upper limb transmission rope 170 is connected with described second-hand's collar bearing 187 via described second fixed pulley 185.
When needs power-assisted, described upper limb driving-belt 110 rotates and drives increasing journey axle 152 to rotate, because the end of described increasing journey axle 152 is connected with described upper limb transmission rope 170, described upper limb transmission rope 170 is connected with described bracelet 161 bearing via described fixed pulley, therefore the rotation of described increasing journey axle 152 drives described upper limb transmission rope 170 to tighten up.Make described fixed pulley rotate and promote described bracelet 161 bearing, because described bracelet 161 is arranged at the inside of described bracelet 161 bearing, and the wrist of people can be inserted in described bracelet 161, and the hands of old friend can be raised along with the lifting of bracelet 161.
Described first rolling wheel 149 inside can be provided with fixed axis and wind spring, and fast pulley and wind spring do not illustrate in the drawings.Fixed axis is positioned at the shaft core position of described first rolling wheel 149, and one end of described wind spring is connected with described fixed axis, and the other end of described wind spring is connected with the inner side of described first rolling wheel 149.
Be appreciated that, the mode that described wind spring can be fastened by groove coupling is connected with described fixed axis and the first rolling wheel 149, also can be connected with fixed axis and the first rolling wheel 149 by viscose glue, it is to restriction of the present utility model that the connected mode of wind spring and fixed axis and the first spool should not be construed.The structure of the second rolling wheel 150 is identical with the structure of described first rolling wheel 149.
Described first bracelet 162 can comprise the first button, and the first button does not illustrate in the drawings.Described first actuating device 140 by motor-driven second connecting axle 144 and be positioned at the first permanent magnet 145 of the second connecting axle 144 and the second permanent magnet 146 after powered up, operating condition can be in after the corresponding instruction that operates receiving.
Described first button is specifically as follows circulus, and during use, described first button can be placed on the finger of people.Being appreciated that the described concrete shape of the first button and the position of installation should not be construed is to restriction of the present utility model.
When needs use this device power-assisted, press described first button, described first coil and the second coil are connected with the electric current that can produce attraction force with the first permanent magnet 145 and the second permanent magnet 146 respectively, the mode that described first permanent magnet 145 is meshed by described first end-tooth 147 and the second end-tooth 148 is connected with described first rolling wheel 149, specifically can see Fig. 2, the mode that described second permanent magnet 146 is meshed by described 3rd end-tooth 155 and the 4th end-tooth 156 is connected with described second rolling wheel 150.First permanent magnet 145 drives described first rolling wheel 149 to rotate, drive first to increase journey axle 153 by described first driving-belt after first rolling wheel 149 rotates to rotate, and the first rotation increasing journey axle 153 can be wound around described first upper limb driving-belt 111, described first upper limb driving-belt 111 can lift wrist after being wound and tightening up, thus plays the effect of power-assisted.The tightening process of the second upper limb driving-belt 112 is identical with said process.
When unclamping described first button, described first coil and the second coil are connected with the electric current that can produce repulsion force with the first permanent magnet 145 and the second permanent magnet 146 respectively, described first permanent magnet 145 is separated with the second rolling wheel 150 with the first rolling wheel 149 respectively with the second permanent magnet 146, specifically can see Fig. 3.Now, the first rolling wheel 149 and the second rolling wheel 150 are in halted state.When arm stretches, upper limb driving-belt 110 partly leaves the increasing journey axle 152 be originally wrapped along with stretching of arm, make wind spring have trend of rebound; When arm bending, due to the resilient nature of wind spring, drive the first rolling wheel 149 and be connected with the first rolling wheel 149 first increase journey axle 153 and the second rolling wheel 150 and and the second rolling wheel 150 be connected second increase journey axle 154 and rotate, thus by upper limb driving-belt 110 rollback increasing journey axle 152 out remaining because bending arms.So arranging of wind spring can make upper limb driving-belt 110 moment be in tensioned state.
Refer to Fig. 4 and Fig. 5, Fig. 4 and Fig. 5 collectively illustrates a kind of assistance exoskeleton that the second embodiment of the present utility model provides, and comprises lower limb servomechanism 200 and the soft band 210 of lower limb.The soft band of described lower limb 210 specifically can comprise the soft band of the first lower limb 211 and the soft band 212 of the second lower limb.Described lower limb servomechanism 200 comprises power supply 120, second motor 220, second actuating device 260, leg fixed part 230, collapsible draft arm 240, soft V belt translation arm 250, and described soft V belt translation arm 250 specifically can comprise the first soft V belt translation arm 251 and the second soft V belt translation arm 252.One end of described collapsible draft arm 240 is connected with described leg fixed part 230, and the other end of described collapsible draft arm 240 is connected with described soft V belt translation arm 250.Described soft V belt translation arm 250 comprises support portion 253 and driving section 254, and described driving section 254 is connected by the soft band 210 of described lower limb with described second actuating device 260, and described driving section specifically can comprise the first driving section 255 and the second driving section 256.Described second motor 220 drives the end be connected with the soft band 210 of described lower limb of the second actuating device 260 described in rear drive to rotate by described power supply 120, tightens up to be wound around by soft for described lower limb band 210.
During use, described power supply 120, second motor 220 and the second actuating device 260 are fixed on the back of people.Described support portion 253 can contact with the back of people, and described support portion 253 can comprise fixed pulley, can be rolled at the back of people by described fixed pulley in described support portion 253.Described collapsible draft arm 240 can be conditioned to make described soft V belt translation arm 250 be positioned at the position corresponding with described second actuating device 260.Described leg fixed part 230 can be specifically the fixture combined by elastic fabric and rigid element, fixes for fitting tightly with the lower limb of people and provides resistance torque.Collapsible draft arm 240 can be by bolts and nuts match connect two metallic rod, the mode that collapsible draft arm 240 also can be matched by bolts and nuts with described thigh fixed part is connected.
Because different person forms is different, first the bolts and nuts of described collapsible draft arm 240 can be adjusted pine, described collapsible draft arm 240 is regulated to make to be in the position corresponding with described second actuating device 260 with the soft V belt translation arm 250 that collapsible draft arm 240 connects, the then bolts and nuts of fastening described collapsible draft arm 240.When the soft band 210 of described lower limb is tightened up, the distance of soft V belt translation arm 250 and the second actuating device 260 can shorten along with soft the tightening up of band 210 of lower limb, thus people is pulled into by stooped over position the state of standing erectly, and realizes power-assisted effect.
The screw bolt and nut of described collapsible draft arm 240 specifically can be connected with a pair gear, and gear mesh engages each other when nut screwing clamping, and described collapsible draft arm 240 can be fixed; Gear mesh is thrown off when nut is unscrewed, and described collapsible draft arm 240 can freely-movable.
Described leg fixed part 230 can extend the foot of the pure man always from the thigh of people.In use, described leg fixed part 230 cooperatively interacts the load of bearing can be conducted to ground with described support portion 253.
Details can see Fig. 5, and described second actuating device 260 comprises third hand tap gear 261, the 4th bevel gear 262, the 3rd connecting axle 263, the 4th connecting axle 264, the 3rd permanent magnet 265, the 4th permanent magnet 266, tertiary coil (not shown), the 4th coil (not shown), the 3rd rolling wheel 269 and Volume Four wheel 270.Because the second actuating device 260 is identical with the kind of drive of the first actuating device 140, first end-tooth 147, second end-tooth 148, the 3rd end-tooth 155 and the 4th end-tooth 156 be corresponding 5th end-tooth 267, the 6th end-tooth 268, the 7th end-tooth 271 and the 8th end-tooth 272 respectively, does not just repeat at this.
Be appreciated that, the soft band of lower limb 210 can be connected with described soft V belt translation arm 250 by the metal termination of hollow out, also can pass through other feasible modes, it is to restriction of the present utility model that the soft band of described lower limb 210 should not be construed with the connected mode of soft V belt translation arm 250.
Please refer to Fig. 6 and Fig. 7, Fig. 6 and Fig. 7 collectively illustrates a kind of assistance exoskeleton that the 3rd embodiment of the present utility model provides, and upper limb servomechanism 100 and lower limb servomechanism 200 are combined together use by this assistance exoskeleton.First of upper limb servomechanism 100 increases that journey axle 153, second increases journey axle 154, first motor 130, the section transmission element of power supply 120 and the subelement of the first actuating device 140 and the second motor 220, second actuating device 260 of lower limb servomechanism 200 can be arranged at same described fuselage, and described power supply 120 can be powered to described first motor 130 and the second motor 220 simultaneously.
In use, described first button specifically can comprise the first button and the second button, and described first button can control the sense of current in the first coil and the second coil, and described second button can control the sense of current in tertiary coil and the 4th coil.First button, the second button, the first coil, the second coil, tertiary coil and the 4th coil all do not illustrate in the drawings.By the detailed process of key control electric current and the first actuating device 140 identical with the process in the first embodiment, the second embodiment with the concrete transmission process of the second actuating device 260, just do not repeat at this.
Be appreciated that described power supply 120 can integrated manipulator, also can be divided into different modules, as power module and controller module.Described power supply 120 can by scattered resettlement, and also can overlappingly settle, it is to restriction of the present utility model that the concrete mounting means of described power supply 120 and installation site should not be construed.
First motor 130 and the second motor 220 specifically can be controlled by the first pressure transducer and the second pressure transducer respectively, and described first pressure transducer and the second pressure transducer do not illustrate in the drawings.The concrete control effects of the first pressure transducer to the first motor 130 is: when the first pressure transducer is pressed, and motor rotates forward, and up lifted by bracelet 161, pressure is larger, and pull rate is faster; When second pressure transducer is pressed, motor reversal, discharged by bracelet 161, pressure is larger, and rate of release is faster.
This utility model provides a kind of assistance exoskeleton, by end connection for transmission rope or the soft band of actuating device, and by transmission rope or soft band to the limbs of wearer as wrist, lower back control the effect playing power-assisted.Can play power-assisted effect in the carrying that demand is more in people's life of this utility model, compared with existing mechanical exoskeleton, cost is lower, has larger practical value.
For making the object of this utility model embodiment, technical scheme and advantage clearly, above in conjunction with the accompanying drawing in this utility model embodiment, carry out describing clearly and completely to the technical scheme in this utility model embodiment, obviously, described embodiment is this utility model part embodiment, instead of whole embodiments.The assembly of this utility model embodiment describing and illustrate in usual accompanying drawing herein can be arranged with various different configuration and design.
Therefore, the detailed description of the above embodiment of the present utility model to providing in the accompanying drawings the claimed scope of the present utility model of not intended to be limiting, but only represent selected embodiment of the present utility model.Based on the embodiment in this utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of this utility model protection.
It should be noted that: represent similar terms in similar label and letter accompanying drawing below, therefore, once be defined in an a certain Xiang Yi accompanying drawing, then do not need to define further it and explain in accompanying drawing subsequently.
In description of the present utility model, it should be noted that, term " " center ", " on ", D score, " left side ", " right side ", " vertically ", " level ", " interior ", orientation or the position relationship of the instruction such as " outward " are based on orientation shown in the drawings or position relationship, or this utility model product orientation of usually putting or position relationship when using, only this utility model and simplified characterization for convenience of description, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as restriction of the present utility model.In addition, term " first ", " second ", " the 3rd " etc. only for distinguishing description, and can not be interpreted as instruction or hint relative importance.
In description of the present utility model, also it should be noted that, unless otherwise clearly defined and limited, term " setting ", " installation ", " being connected ", " connection " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, concrete condition the concrete meaning of above-mentioned term in this utility model can be understood.
Claims (10)
1. an assistance exoskeleton, it is characterized in that: comprise upper limb servomechanism, upper limb driving-belt and arm actuating device, described upper limb servomechanism comprises power supply, first motor and the first actuating device, described arm actuating device comprises increasing journey axle, upper limb transmission rope and hands ring, one end of described upper limb driving-belt is connected with described first actuating device, the other end of described upper limb driving-belt is connected with described increasing journey axle, one end of described upper limb transmission rope is connected with the end of described increasing journey axle, the other end of described upper limb transmission rope is connected with described bracelet, described first motor drives the end that described in rear drive, the first actuating device is connected with described upper limb driving-belt to rotate by described power supply, described upper limb driving-belt rotates and drives described increasing journey axle to rotate, in use, described upper limb servomechanism is dressed in the back of human body, described bracelet is placed on wrist place, described increasing journey axle rotates and drives described upper limb transmission rope to tighten up, described upper limb transmission rope tightens up the described bracelet of rear lifting thus promotes the wrist be placed in bracelet.
2. assistance exoskeleton according to claim 1, it is characterized in that: described first actuating device comprises the first bevel gear, second bevel gear, first connecting axle, second connecting axle, first permanent magnet, second permanent magnet, first coil, second coil, first rolling wheel and the second rolling wheel, described first bevel gear is fixed on by described first motor-driven first connecting axle, described first connecting axle extends along first direction, described second bevel gear is fixed on described second connecting axle, described second connecting axle extends along the second direction perpendicular to described first direction, described second bevel gear is meshed with described first bevel gear, described first permanent magnet is arranged at one end of described second connecting axle, described second permanent magnet is arranged at the other end of described second connecting axle, the side away from described second permanent magnet of described first permanent magnet is provided with concavo-convex the first alternate end-tooth, described first rolling wheel, the axis of the second connecting axle and described second rolling wheel is positioned at same straight line, one end that described first rolling wheel is relative with the first end-tooth of described first permanent magnet is provided with the second end-tooth matched with described first end-tooth, described first coil is arranged between described first permanent magnet and described first rolling wheel, described second permanent magnet is provided with concavo-convex the 3rd alternate end-tooth in the side away from described first permanent magnet, one end that described second rolling wheel is relative with described 3rd end-tooth is provided with the 4th end-tooth matched with described 3rd end-tooth, described second coil is arranged between described second permanent magnet and described second rolling wheel.
3. assistance exoskeleton according to claim 2, it is characterized in that: described arm actuating device also comprises aluminum corner brace, first cantilever, second cantilever, first fixed pulley, second fixed pulley, first-hand collar bearing and second-hand's collar bearing, described aluminum corner brace also comprises the first aluminum corner brace portion and the second aluminum corner brace portion, described increasing journey axle comprises the first increasing journey axle and second and increases journey axle, described upper limb driving-belt also comprises the first upper limb driving-belt and the second upper limb driving-belt, described upper limb transmission rope comprises the first upper limb transmission rope and the second upper limb transmission rope, described bracelet comprises the first bracelet and the second bracelet, described first bracelet is arranged at described first-hand collar bearing inside and described first bracelet can rotate relative to described first-hand collar bearing, described second bracelet is arranged at described second-hand's collar bearing inside and described second bracelet can rotate relative to described second-hand's collar bearing, described first increasing journey axle and described second increases journey axle and is installed in described first aluminum corner brace portion and described second aluminum corner brace portion respectively, described first increases journey axle can rotate relative to described first aluminum corner brace portion, described second increases journey axle can rotate relative to described second aluminum corner brace portion equally, one end of described first cantilever is fixedly connected with described first aluminum corner brace portion, described first cantilever is provided with described first fixed pulley away from the one end in described first aluminum corner brace portion, described first upper limb transmission rope is connected with described first-hand collar bearing via described first fixed pulley, one end of described second cantilever is fixedly connected with described second aluminum corner brace portion, described second cantilever is provided with described second fixed pulley away from the one end in described second aluminum corner brace portion, described second upper limb transmission rope is connected with described second-hand's collar bearing via described second fixed pulley.
4. assistance exoskeleton according to claim 2, it is characterized in that: the inside of described first rolling wheel is provided with fixed axis and wind spring, the fixed axis of described first rolling wheel is arranged at the axle center of described first rolling wheel, described first rolling wheel is connected with described fixed axis by described wind spring, and the structure of described second rolling wheel is identical with the structure of described first rolling wheel.
5. assistance exoskeleton according to claim 3, it is characterized in that: described first bracelet comprises the first button, described first coil, second coil is connected with described power supply respectively with described first button, when described first button is not pressed, described first coil and the second coil are connected with the electric current producing repulsion force with the first permanent magnet and the second permanent magnetism physical ability respectively, described first permanent magnet is separated with the second rolling wheel with the first rolling wheel respectively with the second permanent magnet, when described first button is pressed, described first coil and the second coil are connected with the electric current producing attraction force with the first permanent magnet and the second permanent magnetism physical ability respectively, the mode that described first permanent magnet is meshed by described first end-tooth and the second end-tooth is connected with described first rolling wheel, the mode that described second permanent magnet is meshed by described 3rd end-tooth and the 4th end-tooth is connected with described second rolling wheel.
6. an assistance exoskeleton, it is characterized in that: comprise lower limb servomechanism and the soft band of lower limb, described lower limb servomechanism comprises power supply, second motor, second actuating device, leg fixed part, collapsible draft arm, soft V belt translation arm, one end of described collapsible draft arm is connected with described leg fixed part, the other end of described collapsible draft arm is connected with described soft V belt translation arm, described soft V belt translation arm comprises support portion and driving section, described driving section is connected by soft being with of described lower limb with described second actuating device, described second motor drives rotating with the soft end be connected of being with of described lower limb of the second actuating device described in rear drive by described power supply, so that soft for described lower limb band winding is tightened up, during use, described power supply, second motor and the second actuating device are fixed on the back of people, described support portion can contact with the back of people, described collapsible draft arm can be conditioned to make described soft V belt translation arm be positioned at the position corresponding with described second actuating device.
7. assistance exoskeleton according to claim 6, it is characterized in that: described second actuating device comprises third hand tap gear, 4th bevel gear, 3rd connecting axle, 4th connecting axle, 3rd permanent magnet, 4th permanent magnet, tertiary coil, 4th coil, 3rd rolling wheel and Volume Four wheel, described third hand tap gear is fixed on by the second motor-driven 3rd connecting axle, described 3rd connecting axle extends along first direction, described 4th bevel gear is fixed on the 4th connecting axle, described 4th connecting axle extends along the second direction perpendicular to first direction, described 4th bevel gear is meshed with described third hand tap gear, described 3rd permanent magnet is arranged at one end of described 4th connecting axle, described 4th permanent magnet is arranged at the other end of described 4th connecting axle, the side away from described 4th permanent magnet of described 3rd permanent magnet is provided with concavo-convex the 5th alternate end-tooth, described 3rd rolling wheel, the axis of the 4th connecting axle and described Volume Four wheel is positioned at same straight line, one end that described 3rd rolling wheel is relative with the 5th end-tooth of described 3rd permanent magnet is provided with the 6th end-tooth matched with described 5th end-tooth, described tertiary coil is arranged between described 3rd permanent magnet and described 3rd rolling wheel, described 4th permanent magnet is provided with concavo-convex the 7th alternate end-tooth in the side away from described 3rd permanent magnet, wheel one end relative with described 7th end-tooth, described Volume Four is provided with the 8th end-tooth matched with described 7th end-tooth, described 4th coil is arranged between described 4th permanent magnet and described Volume Four wheel.
8. assistance exoskeleton according to claim 7, it is characterized in that: the soft band of described lower limb comprises the soft band of the first lower limb and the soft band of the second lower limb, the driving section of described soft V belt translation arm comprises the first driving section and the second driving section, one end of the soft band of described first lower limb is connected with described 3rd rolling wheel, the other end of the soft band of described first lower limb is connected with described first driving section, one end of the soft band of described second lower limb is taken turns with described Volume Four and is connected, and the other end of the soft band of described second lower limb is connected with described second driving section.
9. assistance exoskeleton according to claim 7, it is characterized in that: when described tertiary coil and the 4th coil be connected with respectively produce the electric current of repulsion force with the 3rd permanent magnet and the 4th permanent magnetism physical ability time, described 3rd permanent magnet and the 4th permanent magnet are taken turns with Volume Four with the 3rd rolling wheel respectively and are separated, when described tertiary coil and the 4th coil be connected with respectively produce the electric current of attraction force with the 3rd permanent magnet and the 4th permanent magnetism physical ability time, the mode that described 3rd permanent magnet is meshed by described 5th end-tooth and the 6th end-tooth is connected with described 3rd rolling wheel, the mode that described 4th permanent magnet is meshed by described 7th end-tooth and the 8th end-tooth is taken turns with described Volume Four and is connected.
10. assistance exoskeleton according to claim 7, it is characterized in that: the inside of described 3rd rolling wheel is provided with fixed axis and wind spring, the fixed axis of described 3rd rolling wheel is arranged at the axle center of described 3rd rolling wheel, described 3rd rolling wheel is connected with described fixed axis by described wind spring, and the structure of described Volume Four wheel is identical with the structure of described 3rd rolling wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520837085.9U CN205094945U (en) | 2015-10-27 | 2015-10-27 | Helping hand ectoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520837085.9U CN205094945U (en) | 2015-10-27 | 2015-10-27 | Helping hand ectoskeleton |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205094945U true CN205094945U (en) | 2016-03-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520837085.9U Expired - Fee Related CN205094945U (en) | 2015-10-27 | 2015-10-27 | Helping hand ectoskeleton |
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| CN (1) | CN205094945U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105919779A (en) * | 2016-06-21 | 2016-09-07 | 张翔宇 | Semi-automatic cooperative skeleton machine |
| WO2018157302A1 (en) * | 2017-02-28 | 2018-09-07 | 深圳龙海特机器人科技有限公司 | Wearable auxiliary carrying device with two openings |
| WO2018157307A1 (en) * | 2017-02-28 | 2018-09-07 | 深圳龙海特机器人科技有限公司 | Wearable auxiliary carrying device |
| CN110300642A (en) * | 2016-12-29 | 2019-10-01 | 赛峰电子与防务公司 | Convenient for the attachment device of the ectoskeleton structure of bearing load in walking or running |
| CN111820904A (en) * | 2020-08-05 | 2020-10-27 | 南昌大学第二附属医院 | Motion monitoring and reminding device for diabetic cardiomyopathy patients |
-
2015
- 2015-10-27 CN CN201520837085.9U patent/CN205094945U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105919779A (en) * | 2016-06-21 | 2016-09-07 | 张翔宇 | Semi-automatic cooperative skeleton machine |
| CN105919779B (en) * | 2016-06-21 | 2018-03-09 | 张翔宇 | Semi-automatic bone installations of pulling together |
| CN110300642A (en) * | 2016-12-29 | 2019-10-01 | 赛峰电子与防务公司 | Convenient for the attachment device of the ectoskeleton structure of bearing load in walking or running |
| CN110300642B (en) * | 2016-12-29 | 2020-06-19 | 赛峰电子与防务公司 | Connection device for exoskeleton structure facilitating load bearing during walking or running |
| WO2018157302A1 (en) * | 2017-02-28 | 2018-09-07 | 深圳龙海特机器人科技有限公司 | Wearable auxiliary carrying device with two openings |
| WO2018157307A1 (en) * | 2017-02-28 | 2018-09-07 | 深圳龙海特机器人科技有限公司 | Wearable auxiliary carrying device |
| CN111820904A (en) * | 2020-08-05 | 2020-10-27 | 南昌大学第二附属医院 | Motion monitoring and reminding device for diabetic cardiomyopathy patients |
| CN111820904B (en) * | 2020-08-05 | 2023-07-04 | 南昌大学第二附属医院 | Diabetes cardiomyopathy patient's motion control reminding device |
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