CN205924413U - Hip joint structure of wearable ectoskeleton robot - Google Patents
Hip joint structure of wearable ectoskeleton robot Download PDFInfo
- Publication number
- CN205924413U CN205924413U CN201620474259.4U CN201620474259U CN205924413U CN 205924413 U CN205924413 U CN 205924413U CN 201620474259 U CN201620474259 U CN 201620474259U CN 205924413 U CN205924413 U CN 205924413U
- Authority
- CN
- China
- Prior art keywords
- hip joint
- centering block
- block
- connecting rod
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a hip joint structure of wearable ectoskeleton robot, including around, centering block of consecutive actuating mechanism, hip joint block centering block and fix the thigh bracing piece of centering block lower extreme about about, lead screw that actuating mechanism includes the motor, be connected with the pivot of motor, wear to establish on the lead screw and with lead screw screw -thread fit's slider and with slider articulated connecting rod, hip joint block cavity, motor are fixed in hip joint block upper end, and lead screw, slider and connecting rod are located hip joint block, around two positions of centering block upper end articulate respectively at hip joint block's lower extreme and the free end of connecting rod, around and the lower extreme of centering block about with the centering block articulate, motor work drives slider reciprocating motion on the lead screw, the connecting rod receive the slider drive and around promoting the centering block rotate at the fore -and -aft direction for hip joint block, it is rotatable at left right direction for the front and back centering block to control the centering block. The utility model discloses a hip joint structure dresses conveniently, and driving method occupies smallly and be light reliable.
Description
Technical field
This utility model is related to robotics, the hip joint of more particularly, to a kind of wearable exoskeleton robot
Structure.
Background technology
At present, due to being on the increase of paraplegia number of patients of the initiations such as apoplexy, cerebrovascular trauma, contingency, to cutting
For paralysed patient, handicapped it is impossible to standing and walk and will bringing serious destruction to their body, this also make under
The research of limb rehabilitation exoskeleton robot increases, and some colleges and universities have been devised by the hip joint of rehabilitation exoskeleton robot.
Common lower limb exoskeleton robot is based on type of drive such as chain driven, pneumatic type, hydraulic pressure, either which
Kind of type of drive, if applied in drive hip joint motion when, all can inevitably result in volume shared by ectoskeleton structure
Larger or heavier, the shortcoming that generally existing laterally cannot be movable simultaneously, affect the portable construction in wearing for the people and using just
Victory.
Utility model content
In view of prior art exist deficiency, this utility model provide a kind of can easily carry out laterally activity can
The hip joint structure of Wearable exoskeleton robot, easy to use and light.
In order to realize above-mentioned purpose, this utility model employs following technical scheme：
A kind of hip joint structure of wearable exoskeleton robot, including the drive mechanism being sequentially connected, hip joint seat,
Centering block, left and right centering block and the thigh support bar being fixed on described left and right centering block lower end in front and back, described drive mechanism include motor,
Screw mandrel that rotating shaft with described motor is connected, be located on described screw mandrel and the slide block with the cooperation of described wire rod thread and with institute
State the hinged connecting rod of slide block；Described hip joint seat hollow, described motor is fixed on described hip joint seat upper end, described screw mandrel, institute
State slide block and connecting rod is located in described hip joint seat；Before and after described, two positions of centering block upper end are respectively hinged at described hip joint
The lower end of seat and the free end of described connecting rod, and the lower end of described centering block in front and back is hinged with described left and right centering block；Described motor work
Make the described slide block of drive to move back and forth on described screw mandrel, described connecting rod is driven by described slide block and promotes described centering block phase in front and back
Described hip joint seat is rotated in fore-and-aft direction；Described left and right centering block can turn in left and right directions with respect to described centering block in front and back
Dynamic.
Further, described drive mechanism also includes the screw mandrel adapter sleeve being connected on described screw mandrel and is connected to described silk
Shaft coupling between the rotating shaft of bar adapter sleeve and described motor.
Further, the hip joint structure of described wearable exoskeleton robot also includes torsion spring, described torsion spring set
Be located at described before and after on jointed shaft between centering block and described hip joint seat, two elastic arms of described torsion spring are respectively towards dorsad
Both direction pushes described centering block and described hip joint seat in front and back.
Further, described hip joint seat includes blocking surface, the direction of described blocking surface with described before and after centering block freedom
Rebound direction is contrary, opens amplitude with limit described torsion spring.
Further, the hip joint structure of described wearable exoskeleton robot also includes being fixed on described pendulum in front and back
The angular transducer on jointed shaft between block and described hip joint seat.
Further, the hip joint structure of described wearable exoskeleton robot also includes gripper shoe, described support
Plate is fixed on the centering block of described left and right.
Further, the hip joint structure of described wearable exoskeleton robot also includes self-locking structure, a described left side
Right centering block hollow and there is the side opening of strip in the longitudinal direction；Described self-locking structure is included in the centering block of described left and right
Positioning stop pins and stage clip, described positioning stop pins include the operation ear being slidingly disposed in described side opening, described stage clip court
Before and after described, centering block pushes described positioning stop pins；The hinged end that before and after described, centering block is located in the centering block of described left and right offers confession
The insertion section of described positioning stop pins free end insertion.
Further, the described in front and back hinged end outer surface that centering block is located in the centering block of described left and right is cambered surface or lozenges.
Power is transmitted to hip joint using brushless electric machine by ball screw arrangement so as to according to specified by this utility model
Direction and speed motion, take small volume and light；Be simultaneous for cannot lateral movement shortcoming, devise with respect to hip joint
Seat tool have different rotary direction before and after centering block and left and right centering block so that hip joint moves freely；Further, since self-locking structure
Exist, it is opened rear hip joint and joint can be reset into self-locking knot after initial position with lateral movement after people's wearing completes
Structure can automatic locking lateral movement, can prevent motor process from lateral movement occurring it is ensured that the personal safety of user.
Brief description
Fig. 1 is that the straight configuration of the hip joint structure of wearable exoskeleton robot of this utility model embodiment is illustrated
Figure.
Fig. 2 is a structural decomposition diagram of the hip joint structure of this utility model embodiment.
Fig. 3 is a cross section structure diagram of Fig. 1.
Fig. 4 is that the case of bending of the hip joint structure of wearable exoskeleton robot of this utility model embodiment is illustrated
Figure.
Fig. 5 is another structural decomposition diagram of the hip joint structure of this utility model embodiment.
Fig. 6 is a cross section structure diagram of Fig. 4.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement
Example, further describes to this utility model.It should be appreciated that specific embodiment described herein is only in order to explain this reality
With new, it is not used to limit this utility model.
Refering to shown in Fig. 1 and Fig. 2, the hip joint structure of wearable exoskeleton robot of the present utility model is included successively
Connected drive mechanism 10, hip joint seat 20, in front and back centering block 30, left and right centering block 40 and be fixed on the big of left and right centering block 40 lower end
Lower limb support bar 50, in conjunction with Fig. 3, wherein drive mechanism 10 includes screw mandrel 12 that motor 11 is connected with the rotating shaft of motor 11, is located in
The slide block 13 coordinating on screw mandrel 12 and with screw mandrel 12 screw thread and the connecting rod 14 hinged with slide block 13, screw mandrel 12 is formed with slide block 13
Ball screw arrangement, motor 11 preferably employs brushless electric machine, can be conveniently fixed on hip joint seat 20, takies small volume,
Easy to control accurate；Hip joint seat 20 hollow, motor 11 is fixed on hip joint seat 20 upper end, screw mandrel 12, slide block 13 and connecting rod 14
In hip joint seat 20；The position at former and later two intervals of centering block 30 upper end is respectively hinged at the lower end of hip joint seat 20 in front and back
With the free end of connecting rod 14, and the lower end of centering block 30 is hinged with left and right centering block 40 in front and back；Motor 11 work band movable slider 13 is in silk
Move back and forth on bar 12, connecting rod 14 is driven and promotes before and after's centering block 30 to turn in fore-and-aft direction with respect to hip joint seat 20 by slide block 13
Dynamic；Left and right centering block 40 is rotatable in left and right directions with respect in front and back's centering block 30.Because the principle using ball-screw is driven
The design of mechanism is so as to electric rotating machine can be adopted, thus reducing the weight and volume in whole joint.
Preferably, the jointed shaft in hip joint seat 20 side for the centering block 30 and the jointed shaft in left and right centering block 40 side hang down mutually in front and back
Directly.Screw mandrel adapter sleeve 15 that drive mechanism 10 also includes being connected on screw mandrel 12 and be connected to screw mandrel adapter sleeve 15 and motor 11
Shaft coupling 16 between rotating shaft.Screw mandrel adapter sleeve 15 as the interface components of screw mandrel 12, by turning of shaft coupling 16 and motor 11
Axle connects, and thus, the moment of torsion of motor 11 can be delivered on screw mandrel 12, and band movable slider 13 slides along screw mandrel 12, and connecting rod 14 is being slided
Angle between the drive time of block 13 and in front and back centering block 30 changes thus centering block 30 is with respect to hip joint seat 20 before and after promoting
Rotate.
Fig. 4 is that the case of bending of the hip joint structure of wearable exoskeleton robot of this utility model embodiment is illustrated
Figure；Fig. 5 is another structural decomposition diagram of the hip joint structure of this utility model embodiment；Fig. 6 is a section view of Fig. 4
Structural representation.
In conjunction with Fig. 4～6, hip joint to move forward and backward the process bending as follows：Under straight configuration shown in Fig. 3,
Motor 11 work drives screw mandrel 12 to rotate, and, along screw mandrel 12 towards lower slider, the angle between slide block 13 and connecting rod 14 is gradually for slide block 13
Increase, centering block 30 jointed shaft on hip joint seat 20 under the thrust of connecting rod 14 rotates in front and back, so that left and right centering block
40 and thigh support bar 50 rotate with and complete the flexure operation of hip joint.Conversely, when hip joint needs are complete shown in from Fig. 6
When total state returns to the straight configuration shown in Fig. 3, motor 11 rotates backward drive screw mandrel 12 and rotates backward, and slide block 13 is along screw mandrel
12 slide upward, and the angle between slide block 13 and connecting rod 14 tapers into, and centering block 30 closes around hip under the pulling force of connecting rod 14 in front and back
Jointed shaft on section seat 20 rotates, so that left and right centering block 40 and thigh support bar 50 rotate with and complete hip joint
Stretch action.
As one of which embodiment, torsion spring K is set on the jointed shaft between before and after's centering block 30 and hip joint seat 20,
Two elastic arms of torsion spring K centering block 30 and hip joint seat 20 towards before and after both direction pushing dorsad respectively, puts before and after making all the time
Angle between block 30 and hip joint seat 20 is in open trend.Projection respectively specifically in front and back's centering block 30 and hip joint seat 20
Have for keeping out two elastic arms of torsion spring K in projection therein, or for fixing the fixed part of elastic arm.In hip joint
When being in seated position, torsion spring K is in compressive state；When robot needs to change into the process of standing state from seated position
In, due to the elastic-restoring force of torsion spring K, it applies the power of rearward movement all the time so that before motor 11 promotes in front and back's centering block 30
Centering block 30 rearward movement (recovery initial angle) is more laborsaving afterwards, thus realizing labour-saving effect.
It is that the motion amplitude to hip joint carries out certain restriction, prevent hip joint from rotating excessively and cause the phenomenons such as fracture
Occur, such as Fig. 3, the inner surface of hip joint seat 20 bottom also has a blocking surface 21, the direction of blocking surface 21 and in front and back centering block 30
Free rebound direction contrary (i.e. with the trailing flank of in front and back centering block 30 just to), opens amplitude with limit torsion spring K, when in front and back's centering block
30 then cannot continue rotation, thus protecting user well when turning to abutting blocking surface 21 backwards.
Hip joint structure also has the angle sensor on the jointed shaft being fixed between before and after's centering block 30 and hip joint seat 20
Device S.Detect the rotational angle of this jointed shaft by using angular transducer S, the angle value of hip joint activity can be drawn in real time,
To realize accurate feedback and control.
The hip joint structure of the present embodiment also has gripper shoe 70, and gripper shoe 70 is fixed on left and right centering block 40, wears in people
When needing when wearing to be stood by sitting state, gripper shoe 70 can play the effect held to thigh, plays auxiliary work to standing up of people
With.
In view of the demand of hip joint lateral movement, this utility model devises lateral movement self-locking mechanism so as to permissible
Realize lateral movement, locked by self-locking mechanism in normal state simultaneously, prevent lateral pendulum during hip joint proper motion
Dynamic it is ensured that the safety of wearer.Concrete such as Fig. 3 and 5, this self-locking structure 60 includes the positioning stop pins in left and right centering block 40
61 and stage clip 62, hollow and side have the side opening 41 of strip to left and right centering block 40 in the longitudinal direction, and positioning stop pins 61 wrap
Include the operation ear 61a being slidingly disposed in side opening 41, stage clip 62 pushes positioning stop pins 61 towards in front and back's centering block 30；Centering block in front and back
30 hinged ends being located in left and right centering block 40 offer the insertion section 31 for the insertion of positioning stop pins 61 free end.This insertion section 31
Can be groove or through hole, stage clip 62 is between positioning stop pins 61 and thigh support bar 50.In the unbending shape of hip joint
Under state, positioning stop pins 61 are inserted in insertion section 31 under the elastic thrust of stage clip 62, and left and right centering block 40 then cannot be with respect to
Centering block 30 rotates in front and back, and the two is relatively fixed；When needing to take off or be worn by, push away down on positioning stop pins 61 along side opening 41
Operation ear 61a, the upper end of positioning stop pins 61 then departs from insertion section 31, left and right centering block 40 then can with respect in front and back's centering block 30 from
Transferred unrestricted by ground left-right rotary, user can be sat down and be taken off or be worn by hip joint.
In front and back centering block 30 be located at left and right centering block 40 in hinged end outer surface (i.e. face around insertion section 31) be cambered surface or
Lozenges, preferably before and after centering block 30 with this at the concentric cambered surface of jointed shaft, the free end of positioning stop pins 61 is chamfering or ball
Face, to facilitate the insertion section 31 preferably slipping into before and after's centering block 30.When hip joint structure left and right centering block 40 can freely left and right
During swing, firmly rotation left and right centering block 40, the cambered surface of positioning stop pins 61 centering block 30 before and after the elastic thrust lower edge of stage clip 62
Or lozenges slips into insertion section 31, realize self-locking, now, left and right centering block 40 be then relatively fixed with front and back centering block 30 and cannot be left again
Right swing.
This utility model is by being transmitted to hip joint by ball screw arrangement by power using brushless electric machine so as to according to finger
Fixed direction and speed motion, take small volume and light；Be simultaneous for cannot lateral movement shortcoming, devise with respect to hip
Socket joint have different rotary direction before and after centering block and left and right centering block so that hip joint moves freely；Further, since self-locking knot
The presence of structure, it is opened rear hip joint and after people's wearing completes, joint can be reset into after initial position certainly with lateral movement
Lock construction can automatic locking lateral movement, can prevent motor process from lateral movement occurring it is ensured that user the person peace
Entirely；And, due to having angular transducer, the rotational angle of hip joint can be fed back in real time, so that system can be closed
The control of ring, simultaneously machine using the angle of hip joint, human body attitude can be judged.
The above is only the specific embodiment of the application it is noted that ordinary skill people for the art
For member, on the premise of without departing from the application principle, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as the protection domain of the application.
Claims (8)
1. a kind of hip joint structure of wearable exoskeleton robot is it is characterised in that include the drive mechanism being sequentially connected
(10), hip joint seat (20), in front and back centering block (30), left and right centering block (40) and be fixed on the big of described left and right centering block (40) lower end
Lower limb support bar (50), described drive mechanism (10) include screw mandrel (12) that motor (11) is connected with the rotating shaft of described motor (11),
It is located in that described screw mandrel (12) is upper and slide block (13) with the cooperation of described screw mandrel (12) screw thread and hinged with described slide block (13)
Connecting rod (14)；Described hip joint seat (20) hollow, described motor (11) is fixed on described hip joint seat (20) upper end, described silk
Bar (12), described slide block (13) and connecting rod (14) are located in described hip joint seat (20)；The two of centering block (30) upper end before and after described
Individual position is respectively hinged at the lower end of described hip joint seat (20) and the free end of described connecting rod (14), and described centering block in front and back
(30) lower end is hinged with described left and right centering block (40)；Described motor (11) work drives described slide block (13) in described screw mandrel
(12) upper reciprocating motion, described connecting rod (14) is driven by described slide block (13) and promotes described centering block (30) in front and back with respect to described
Hip joint seat (20) rotates in fore-and-aft direction；Described left and right centering block (40) can in left and right directions with respect to centering block (30) before and after described
Rotate.
2. the hip joint structure of wearable exoskeleton robot according to claim 1 is it is characterised in that described driving
Mechanism (10) also includes the screw mandrel adapter sleeve (15) being connected on described screw mandrel (12) and is connected to described screw mandrel adapter sleeve (15)
Shaft coupling (16) and the rotating shaft of described motor (11) between.
3. the hip joint structure of wearable exoskeleton robot according to claim 1 is it is characterised in that also include turning round
Spring (K), described torsion spring (K) is set on described jointed shaft between centering block (30) and described hip joint seat (20) in front and back, described
Two elastic arms of torsion spring (K) push described centering block (30) and described hip joint seat in front and back towards both direction dorsad respectively
(20).
4. the hip joint structure of wearable exoskeleton robot according to claim 3 is it is characterised in that described hip closes
Section seat (20) include blocking surface (21), the direction of described blocking surface (21) with described before and after centering block (30) free rebound direction phase
Instead, open amplitude with limit described torsion spring (K).
5. the hip joint structure of wearable exoskeleton robot according to claim 1 is it is characterised in that also include solid
It is scheduled on the angular transducer (S) on described jointed shaft between centering block (30) and described hip joint seat (20) in front and back.
6. the hip joint structure of wearable exoskeleton robot according to claim 1 is it is characterised in that also include propping up
Fagging (70), described gripper shoe (70) is fixed on described left and right centering block (40).
7. the hip joint structure according to the arbitrary described wearable exoskeleton robot of claim 1-6 is it is characterised in that go back
Including self-locking structure (60), described left and right centering block (40) hollow and there is the side opening (41) of strip in the longitudinal direction；Described
Self-locking structure (60) includes positioning stop pins (61) and stage clip (62) in described left and right centering block (40), described positioning stop
Pin (61) includes the operation ear (61a) being slidingly disposed in described side opening (41), and described stage clip (62) is towards described centering block in front and back
(30) described positioning stop pins (61) are pushed；The hinged end that before and after described, centering block (30) is located in described left and right centering block (40) opens up
There is the insertion section (31) for the insertion of described positioning stop pins (61) free end.
8. the hip joint structure of wearable exoskeleton robot according to claim 7 is it is characterised in that before and after described
The hinged end outer surface that centering block (30) is located in described left and right centering block (40) is cambered surface or lozenges.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620474259.4U CN205924413U (en) | 2016-05-23 | 2016-05-23 | Hip joint structure of wearable ectoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620474259.4U CN205924413U (en) | 2016-05-23 | 2016-05-23 | Hip joint structure of wearable ectoskeleton robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205924413U true CN205924413U (en) | 2017-02-08 |
Family
ID=57935260
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620474259.4U Withdrawn - After Issue CN205924413U (en) | 2016-05-23 | 2016-05-23 | Hip joint structure of wearable ectoskeleton robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205924413U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105877973A (en) * | 2016-05-23 | 2016-08-24 | 深圳先进技术研究院 | Hip joint structure of wearable exterior skeleton robot |
| CN107049715A (en) * | 2017-05-17 | 2017-08-18 | 山东科技大学 | A kind of assisted walk robot used suitable for medical rehabilitation, correction or training |
-
2016
- 2016-05-23 CN CN201620474259.4U patent/CN205924413U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105877973A (en) * | 2016-05-23 | 2016-08-24 | 深圳先进技术研究院 | Hip joint structure of wearable exterior skeleton robot |
| CN105877973B (en) * | 2016-05-23 | 2018-09-21 | 深圳先进技术研究院 | A kind of hip joint structure of wearable exoskeleton robot |
| CN107049715A (en) * | 2017-05-17 | 2017-08-18 | 山东科技大学 | A kind of assisted walk robot used suitable for medical rehabilitation, correction or training |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105877973B (en) | A kind of hip joint structure of wearable exoskeleton robot | |
| KR102421437B1 (en) | Hand exercising apparatus | |
| CN107811805B (en) | Wearable lower limb exoskeleton rehabilitation robot | |
| CN105919772B (en) | A kind of wearable hand device for healing and training | |
| CN105457236B (en) | Rehabilitation training hand and recovery training method | |
| CN109542236B (en) | Exoskeleton glove with finger position synchronous measurement and fingertip force feedback functions | |
| ES2810799T3 (en) | Machine-to-human interfaces for communication from a lower extremity orthosis | |
| WO2018006722A1 (en) | Bionic prosthetic hand | |
| CN106618813B (en) | Prosthetic hand | |
| CN206473520U (en) | Finger rehabilitation training device | |
| CN102319162B (en) | Exoskeletal thumb moving function rehabilitation robot | |
| CN107595547B (en) | Double-arm robot for upper limb rehabilitation training | |
| KR101241800B1 (en) | Exoskeleton Apparatus For Assistant physical strength | |
| CN107411939A (en) | A kind of special power-assisted healing robot of single lower limb individuals with disabilities | |
| US20150351995A1 (en) | Reconfigurable Exoskeleton | |
| CN105726263A (en) | Wearable hand exoskeleton rehabilitation training robot | |
| WO2014027897A1 (en) | A gripping device | |
| CN104799982B (en) | Single motor drive lacking prosthetic hand based on continuum differential attachment | |
| CN112315734B (en) | Pneumatic muscle-driven lower limb rehabilitation exoskeleton and rehabilitation work control method thereof | |
| CN111956453B (en) | Multi-degree-of-freedom upper limb flexible assistance exoskeleton | |
| WO2003017880A1 (en) | A thumb at a mechanical hand | |
| CN205924413U (en) | Hip joint structure of wearable ectoskeleton robot | |
| CN110141458B (en) | Exoskeleton-based rehabilitation training manipulator for patients with hand dyskinesia | |
| US11224553B2 (en) | Hand rehabilitation device | |
| CN106618967A (en) | Novel portable hand exoskeleton recovery device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170208 Effective date of abandoning: 20180921 |
|
| AV01 | Patent right actively abandoned |