CN205817835U - Anthropomorphic bionical power-assisted pedipulator - Google Patents
Anthropomorphic bionical power-assisted pedipulator Download PDFInfo
- Publication number
- CN205817835U CN205817835U CN201620527705.3U CN201620527705U CN205817835U CN 205817835 U CN205817835 U CN 205817835U CN 201620527705 U CN201620527705 U CN 201620527705U CN 205817835 U CN205817835 U CN 205817835U
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- anthropomorphic
- motor
- assisted
- power
- bionical
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Abstract
Anthropomorphic bionical power-assisted pedipulator, relate to a kind of machinery, single chip control unit is placed on rear side of anthropomorphic bionical power-assisted pedipulator frame, and mechanical driving part is made up of frame, driving motor, motor fixed rack, Hooks coupling universal coupling, sideshake hinge, ring flange, active synchronization belt wheel, Timing Belt, driven synchronous pulley, crank and rocker mechanism, thigh, liquid locking device, shank, sole, pressure transducer；Motor fixed rack is fixed on both sides, anthropomorphic bionical power-assisted pedipulator back；Motor is driven to be fixed on motor fixed rack；Motor shaft is connected with the axle being fixed on active synchronization belt wheel by Hooks coupling universal coupling；The back of anthropomorphic bionical power-assisted pedipulator is attached by two sideshake hinges of the anthropomorphic bionical every side of power-assisted pedipulator with thigh.This utility model is worn on the lower limb of people, and on the premise of not hindering the basic row stop & go function of people, help porter reduces labor intensity during carrying heavy goods, alleviates carrying work load.
Description
Technical field
This utility model relates to a kind of machinery, particularly relates to a kind of anthropomorphic bionical power-assisted pedipulator.
Background technology
At present, a lot of carrying work is still completed by porter, the most arduously.General bionical anthropomorphic power-assisted dress
Putting all a lot of degree of freedom compositions, have a highest adaptability, but bring is that structure is complicated, controls difficulty, power consumption is big
Feature.This device is according to organization of human body, and every lower limb, only by a driven by motor, makes full use of the locking of liquid to realize power-assisted,
Have that simple in construction, power consumption is low, the feature of low cost.
Summary of the invention
The purpose of this utility model is to provide a kind of anthropomorphic bionical power-assisted pedipulator, is worn on the lower limb of courier,
On the premise of not hindering the basic row stop & go function of people, help porter reduces labor intensity during carrying heavy goods, alleviates and removes
The work load of fortune workman, uses this covering device can be greatly reduced labor intensity, improves efficiency, reach the purpose of power-assisted.
The purpose of this utility model is achieved through the following technical solutions:
A kind of anthropomorphic bionical power-assisted pedipulator, described personification bionical power-assisted pedipulator is by mechanical driving part and single-chip microcomputer control
Part two parts processed form, and described personification bionical power-assisted pedipulator includes frame, motor fixed rack, driving motor, universal
Axial organ, sideshake hinge, ring flange, single chip control unit, active synchronization belt wheel, Timing Belt, driven synchronous pulley, crank
Endplay device, thigh, liquid locking device, shank, sole, pressure transducer；Single chip control unit is placed in anthropomorphic bionical help
On rear side of power pedipulator frame.Mechanical driving part is by frame, driving motor, motor fixed rack, Hooks coupling universal coupling, sideshake
Hinge, ring flange, active synchronization belt wheel, Timing Belt, driven synchronous pulley, crank and rocker mechanism, thigh, liquid locking device,
Shank, sole, pressure transducer are constituted；Motor fixed rack is fixed on both sides, anthropomorphic bionical power-assisted pedipulator back；Drive electricity
Machine is fixed on motor fixed rack；Motor shaft is connected with the axle being fixed on active synchronization belt wheel by Hooks coupling universal coupling；Intend
The back of anthropomorphic bionical power-assisted pedipulator and thigh are carried out even by two sideshake hinges of the every side of people's bionical power-assisted pedipulator
Connect, and Hooks coupling universal coupling and sideshake hinge are at sustained height. realize passive side-sway；Single chip control unit is placed on machine
On rear side of frame；Active synchronization belt wheel is arranged on outside hip joint by Timing Belt transmission power with driven synchronous pulley；Crank rocker
Mechanism is placed on the outside of every thigh, realizes lifting lower limb action；After liquid locking device is placed in thigh and shank junction
Side, when thigh and shank are in straight configuration, liquid locking device is in fully extended state, it is achieved the support to weight.
The anthropomorphic bionical power-assisted pedipulator of described one, described pressure transducer is arranged on anthropomorphic bionical power-assisted machinery legs and feet
The outside of the palm, the signal that given liquid is locked.
Advantage of the present utility model with effect is:
It, on original power-assisted pedipulator technology, is improved and has been innovated by this utility model, it is possible to achieve easily
Walk freely, can realize by sideshake simultaneously；A driven by motor linkage is used to control thigh and the fortune of shank
Dynamic, design accurately makes the rule of the characteristics of motion and human body natural's walking step state the most identical, and the characteristics of motion is fixed, tool
There is higher stability, reach to assist people's walking, reduce the purpose that walking consumes, reduce the purpose of cost the most greatly；Real
The gait walking power-assisted of existing people, every lower limb only needs a motor, and once charging can use for a long time, saves the energy.
Accompanying drawing explanation
Fig. 1, this utility model front sectional view；
Fig. 2 is that this utility model master regards outline drawing；
Fig. 3 is this utility model top view.
Detailed description of the invention
This utility model is described in detail by illustrated embodiment below in conjunction with the accompanying drawings.
Parts in figure: 1-frame；2-motor fixed rack；3-drives motor；4-Hooks coupling universal coupling；5-sideshake is cut with scissors
Chain；6-ring flange；7-single chip control unit；8-active synchronization belt wheel；9-Timing Belt；The driven synchronous pulley of 10-；11-crank
Endplay device；12-thigh；13-liquid locking device；14-shank；15-sole；16-pressure transducer.
Structure of the present utility model is mainly made up of mechanical part and Single-chip Controlling two parts: as it can be seen, Machinery Ministry
Divide and mainly include sideshake mechanism, thigh rotating mechanism, shank rotating mechanism and sole induction mechanism four composition.Motor is solid
Fixed rack 2 is fixed on both sides, anthropomorphic bionical power-assisted pedipulator frame 1 back；Motor 3 is driven to be fixed on motor fixed rack 2；
The back of frame 1 is attached by two sideshake hinges 5 of the anthropomorphic bionical every side of power-assisted pedipulator with thigh 12, and ten thousand
To shaft coupling 4 with sideshake hinge 5 at sustained height；Single chip control unit 7 is placed on rear side of frame 1；Active synchronization band
Wheel 8 transmits power with driven synchronous pulley 10 by Timing Belt 9, is arranged on outside hip joint；Crank and rocker mechanism 11 is placed on
The outside of every thigh 12；Liquid locking device 13 is placed in the rear side of thigh 12 and shank 14 junction, thigh 12 and shank
14 liquid locking devices 13 when being in straight configuration are in fully extended state；Pressure transducer 16 is arranged on anthropomorphic bionical power-assisted
The outside of pedipulator sole 15.
Singlechip control part is made up of pressure transducer 16, single chip control unit 7, and pressure transducer 16 is arranged on plan
Outside people's bionical power-assisted machinery legs and feet palm, single chip control unit 7 is positioned on rear side of frame 1.
During anthropomorphic bionical power-assisted pedipulator work, it is fixed on anthropomorphic bionical power-assisted pedipulator frame 1 driving motor 3 behind
Starting working, motor shaft is connected with the axle being fixed on active synchronization belt wheel 8 by Hooks coupling universal coupling 4, and and sideshake
Hinge 5 is in same level, and Timing Belt wheel shaft all inserts in the ring flange 6 with bearing, and ring flange 6 and frame 1 are fixed.Main
Dynamic synchronous pulley 8 and driven synchronous pulley 10 transmit moment of torsion, driven synchronous pulley and crank and rocker mechanism 11 by Timing Belt 9
One end connects, and the linkage other end is connected to the axle outside power assisting device thigh 12, can drive lifting of thigh after cooperation
With fall, shank 14 then uses the flexible of liquid locking device 13 to complete to lift lower limb action, the pressure transducer of sole 15 both sides
Gravity changer during 16 detection walking.Rotary shaft is used to be attached between thigh, shank and sole.Every lower limb is by one
Driving motor and a liquid locking device to control, all motors and hydraulic means are sent different command by control system and control
System, reaches the control to anthropomorphic bionical power-assisted pedipulator.
Claims (2)
- The most anthropomorphic bionical power-assisted pedipulator, it is characterised in that described personification bionical power-assisted pedipulator is by mechanical driving part and list Sheet machine controls part two parts composition, includes frame, motor fixed rack, driving motor, Hooks coupling universal coupling, sideshake hinge Chain, ring flange, single chip control unit, active synchronization belt wheel, Timing Belt, driven synchronous pulley, crank and rocker mechanism, thigh, Liquid locking device, shank, sole, pressure transducer；After single chip control unit is placed in anthropomorphic bionical power-assisted pedipulator frame Side, mechanical driving part is by frame, driving motor, motor fixed rack, Hooks coupling universal coupling, sideshake hinge, ring flange, master Dynamic synchronous pulley, Timing Belt, driven synchronous pulley, crank and rocker mechanism, thigh, liquid locking device, shank, sole, pressure Sensor is constituted；Motor fixed rack is fixed on both sides, anthropomorphic bionical power-assisted pedipulator back；Motor is driven to be fixed on motor solid On fixed rack；Motor shaft is connected with the axle being fixed on active synchronization belt wheel by Hooks coupling universal coupling；Anthropomorphic bionical power-assisted machinery The back of anthropomorphic bionical power-assisted pedipulator is attached by two sideshake hinges of the every side of lower limb with thigh, Hooks coupling universal coupling with Sideshake hinge is located at sustained height；Active synchronization belt wheel is arranged on hip with driven synchronous pulley by Timing Belt transmission power Outside joint；Crank and rocker mechanism is arranged on the outside of every thigh；Liquid locking device is placed in thigh and shank junction Rear side.
- Personification the most according to claim 1 bionical power-assisted pedipulator, it is characterised in that described pressure transducer is arranged on plan The outside of people's bionical power-assisted machinery legs and feet palm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620527705.3U CN205817835U (en) | 2016-06-02 | 2016-06-02 | Anthropomorphic bionical power-assisted pedipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620527705.3U CN205817835U (en) | 2016-06-02 | 2016-06-02 | Anthropomorphic bionical power-assisted pedipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205817835U true CN205817835U (en) | 2016-12-21 |
Family
ID=57567896
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620527705.3U Expired - Fee Related CN205817835U (en) | 2016-06-02 | 2016-06-02 | Anthropomorphic bionical power-assisted pedipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205817835U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818517A (en) * | 2018-08-30 | 2018-11-16 | 贵州大学 | Wearable mechanically aided leg |
| CN109434810A (en) * | 2018-12-14 | 2019-03-08 | 深圳市行者机器人技术有限公司 | It is a kind of for controlling the drive mechanism of robot ambulation |
-
2016
- 2016-06-02 CN CN201620527705.3U patent/CN205817835U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818517A (en) * | 2018-08-30 | 2018-11-16 | 贵州大学 | Wearable mechanically aided leg |
| CN109434810A (en) * | 2018-12-14 | 2019-03-08 | 深圳市行者机器人技术有限公司 | It is a kind of for controlling the drive mechanism of robot ambulation |
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Legal Events
| 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 |
Granted publication date: 20161221 Termination date: 20170602 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |