CN205988396U - A kind of ectoskeleton joint with reset function - Google Patents
A kind of ectoskeleton joint with reset function Download PDFInfo
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- CN205988396U CN205988396U CN201620386272.4U CN201620386272U CN205988396U CN 205988396 U CN205988396 U CN 205988396U CN 201620386272 U CN201620386272 U CN 201620386272U CN 205988396 U CN205988396 U CN 205988396U
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Abstract
This utility model provides a kind of ectoskeleton joint with reset function, including the first limbs rotating connection and the second limbs, also include the resetting-mechanism being arranged between the first limbs and the second limbs, this resetting-mechanism provides restoring force when the first limbs and the second limbs are close to erectility, joint is promoted to recover erectility, state of being kept upright in the case that joint is not affected by notable torque.Wherein resetting-mechanism can adopt magnetic attractive elements or voussoir wedge slot structure, can also be spring energy storage mechanism, during the first limbs and the second limbs stretch release elastic force and power-assisted.Spring energy storage mechanism is torsion spring, extension spring, stage clip or gas push rod, arranges the position-limit mechanism of its rotational angle restricted between described first limbs and the second limbs.This utility model structure is simple, mechanically realizes power-assisted, and be capable of passively bending to the reset in active straightening procedure under conditions of not consuming the external energy.
Description
Technical field
This utility model belongs to robot wearable device technical field and in particular to a kind of ectoskeleton with reset function closes
Section.
Background technology
Exoskeleton robot is that one kind may be worn on outside human body, and according to human motion attitude or human brain idea,
Mechanically aided active mechanical system is carried out using extra power or portable energy source.This be equipped in military field, permissible
Make soldier carry more weaponrys, strengthen the motor capacity of soldier, effectively improve the fight capability of individual soldier；In civilian neck
Domain, can be widely applied to mountain-climbing, tourism, fire-fighting, disaster relief etc. needs to bear heavy goods and materials, and the impassable feelings of vehicle
Condition；In medical field, exoskeleton robot can be also used for assisting people with disability, old people's walking it is also possible to help transitory loss
The patient of motor capacity carries out functional recovery training.Therefore, there is very wide application prospect.With regard to active ectoskeleton machine
People, the relatively more famous Hulc lower limb exoskeleton robot of inclusion american lockheed LMT and Raytheon Sarcos
The Xos2 whole body exoskeleton robot of company.
The active exoskeleton robot of above-mentioned introduction can be remarkably reinforced function of human body really, but its drawback is also apparent from：
Device needs to rely on a large amount of high-precision sensors and controls computer to realize active control, and therefore system complex, fault rate is high；Complicated
Frame for movement and high-precision components and parts force device development with high costs, limit ectoskeleton machinery popularization use；And
And need the extra powers such as battery to provide power, therefore seriously constrain its course continuation mileage.
For this reason, passive type ectoskeleton more popularizes meaning.So-called passive type ectoskeleton refers to do not have extra power to provide volume
The ectoskeleton machinery of outer power, research is less at present for this passive type ectoskeleton.The Fortis that Lockheed Martin Corporation releases
Lower limb exoskeleton belongs to passive type ectoskeleton.This device does not have energy input and the engine of outside, and Main Function is to dress
Gravity is reached ground by each linkage by the instrument that person holds.Therefore, Plant personnel can be grown with the help of Fortis
Time carries heavy type electric or pneumatic tool carries out main equipment processing.But this device is used primarily in what wearer stood still
In the case of, do not consider the long-distance walking with load of wearer, and human body overcome the problem of heavy burden potential energy acting during climbing,
Therefore each movable joint of Fortis is all provided without any reset and servomechanism.
If but want to assist wearer's distance walking with load out of doors using passive type ectoskeleton, movable joint needs very much
Reset and assist function.Particularly ectoskeletal knee joint, needs to utilize the dead point of rod hinge connection in an erect condition
Principle, the gravity of heavy burden is efficiently reached ground.But wearer is in the process of walking, knee joint is in bending all the time and stretches
In straight alternate cycles, and in random time, only unilateral knee joint is stretched, and now the limbs of place side are just human body and heavy burden
Supporting leg.Bear a heavy burden to ectoskeleton auxiliary human body, then need ectoskeletal knee joint can stretch with the knee joint of human body place side
When, also can recover rapidly erectility.Without the passive type ectoskeleton knee joint of reset function, when it tends to straight configuration
When it is impossible to enough automatically reset it is necessary to operator deliberately could reset in exceptionally straight leg joint, this will significantly affect human body walking
Gait and the efficiency of ectoskeleton load-bearing.
On the other hand, during human body bears a heavy burden and climbs in wearing passive type ectoskeleton, if ectoskeletal movable joint,
If particularly not having extra power-assisted at knee joint, human body then needs to overcome the gravitational potential of heavy burden by the acting of leg muscle
Energy.When the gravity bearing a heavy burden continues firmly scope beyond human muscle, by the obvious fatigue rate aggravating human muscle.Therefore do not have
There is the passive type ectoskeleton joint of extra power-assisted, also reduce, by obvious, effect that passive type ectoskeleton assists human body walking with load.
Utility model content
The deficiencies in the prior art in view of the above, the purpose of this utility model is to provide a kind of outer with reset function
Skeletal joint, is capable of automatically reseting of joint.
For achieving the above object and other related purposes, technical solutions of the utility model are as follows：
A kind of ectoskeleton joint with reset function, including the first limbs and the second limbs, the first limbs and the second limbs
Between connected by articulation, the resetting-mechanism also including being arranged between the first limbs and the second limbs and prevent joint anti-
To the position limiting structure rotating, this resetting-mechanism provides restoring force when the first limbs and the second limbs are close to erectility, promotes
Erectility, state of being kept upright in the case that joint is not affected by notable torque are recovered in joint.
Using said structure, ectoskeleton joint can produce restoring force in the state of upright, promote ectoskeleton joint
Recover erectility, make joint when close to erectility, it is possible to achieve the self-locking of certain dynamics is it is ensured that joint can be efficient
Load；Without carrying other energy supply mechanisms such as power supply again, enormously simplify structure, stretched without operator's moving foot active
Directly, easy to operate.
Further, described resetting-mechanism includes the Magnet being arranged on the first limbs and be arranged on can on the second limbs
When the magnetic-attraction element being attracted with Magnet phase, Magnet and magnetic-attraction element are drawn close, the first limbs and the second limbs are in straight configuration.Inhale
Drawing element can be metal or the Magnet such as iron and steel.Have automatically reset, upright self-locking, can using two blocks as position limiting structure,
Offset when recovering upright, realize preventing rotating backward of joint.
Further, described resetting-mechanism is realized by voussoir wedge groove mechanism and hold-down mechanism, and voussoir is permissible with the direction of wedge groove
Parallel with joint rotational axis it is also possible to be arranged in the Normal plane of joint rotational axis, the number of voussoir and wedge groove can be 1-3
Individual, and it is evenly arranged along rotary shaft tangent line.As hold-down mechanism and voussoir being arranged on the ball and socket joint of the second limbs,
Then corresponding wedge groove is arranged on the ball and socket joint of the first limbs, in rotation process, hold-down mechanism makes joining of voussoir and wedge groove
Conjunction face is held against, so that the first limbs and the second limbs direction tend to upright direction and rotating and reset.Voussoir wedge groove
Mechanism is vertical surface due to only unilateral inclined-plane, another side, therefore voussoir can only unidirectional slip in wedge groove, opposite side only can make
The vertical surface of voussoir and wedge groove is collided, so make between the first limbs and the second limbs can only positive bending and can not be reverse
Bending, realizes spacing.
A kind of ectoskeleton joint with reset function, including the first limbs and the second limbs, the first limbs and the second limbs
Between connected by articulation, also include the spring energy storage mechanism being arranged between the first limbs and the second limbs, this elasticity
Accumulating mechanism accumulation of energy when the first limbs and the second limbs passively bend, releases during the first limbs and the second limbs stretch
Put elastic force and power-assisted.
Using said structure, ectoskeleton joint, can be in spring energy storage mechanism pretightning force not only when close to erectility
Effect is lower to reply erectility, by human muscle's acting passive type accumulation of energy and can also close when joint significantly bends
Elastic potential energy is discharged, auxiliary human body bears a heavy burden and climbs in section stretching process.Although from physicss' angle, the total work that human body is dissipated is simultaneously
Do not reduce, but due to reduce human body bear a heavy burden climb during muscle peak load, it is to avoid the fatigue of muscle, institute
So that from angle of physiology, passive type assistance exoskeleton can reduce the physical consumption of human body, plays the effect of power-assisted.Can not only answer
Position is moreover it is possible to accumulation of energy and power-assisted.
Further, described spring energy storage mechanism is torsion spring, and described torsion spring is arranged on joint, and one end is against the first limb
On body, the other end is against on the second limbs.
Further, the position-limit mechanism of its rotational angle restricted is set between described first limbs and the second limbs.
Described position-limit mechanism can be the chute and the slide block that are separately positioned on the first limbs and the second limbs, and both are joining
Cooperation is rotated by the position limitation ectoskeleton joint at chute two ends with lower in the range of special angle.Concrete angular range should
It is adapted with the rotation amplitude of human body corresponding joint.
Particularly it is directed to human body knee joint, rotation amplitude is usually 0-135 °, wherein 0 ° finger thigh and shank are in uprightly
During state, therefore corresponding its rotation amplitude of ectoskeleton knee joint should be 0-135 °, especially needs position-limit mechanism to avoid knee joint
Negative angle and rotates in joint, and that is, to front curve, and then avoids human body knee joint injured.
Further, described spring energy storage mechanism is extension spring, stage clip or gas push rod, and described spring energy storage mechanism one end is fixed on
On first limbs, the other end is connected with the second limbs by bracing wire, the described bracing wire hole being drawstring through the first limbs joint head, pressure
In the bracing wire groove on the second limbs joint head, the ball and socket joint of described second limbs is actually fixedly connected with the second limbs
Deng radius pulleys.The bracing wire groove end of the second limbs joint head has bracing wire hole, is drawstring through the bracing wire hole of the second limbs, is used in combination
Bracing wire is locked by bracing wire termination.When ectoskeleton arthrogryposises, the ball and socket joint of the second limbs rotates, and makes bullet by elongating bracing wire
Property accumulating mechanism stress and accumulation of energy；When ectoskeleton joint is stretched, spring energy storage mechanism passes through to withdraw bracing wire, its pulling force producing
The radius having with the pulley of the second limbs joint head together decides on rotatory force produced by the external skeletal joint of servomechanism
Square.
Further, described spring energy storage mechanism is extension spring, stage clip or gas push rod, and described spring energy storage mechanism first end is fixed
On the first limbs, the ball and socket joint of the second limbs is provided with pulley, described bracing wire one end is fixed on the first limbs, bracing wire
The other end is bypassed pulley and is connected with the second end of spring energy storage mechanism.
That is, bracing wire is bypassed pulley, two ends be separately fixed on the first limbs and spring energy storage mechanism on, when the first limbs
When relatively rotating with the second limbs, pulley, with respect to the first limb motion, makes bracing wire pull accumulating mechanism stress.The cunning of this device
Wheel is a kind of movable pulley mechanism, and the degree of power assistance of spring energy storage mechanism therefore can be made double.Stage clip, extension spring in same stiffness
Or under the gas push rod of same pressure and sectional area acts on, the device power-assisted effect ratio having movable pulley mechanism does not have movable pulley machine
The device degree of power assistance of structure is twice.As want, in the case of using identical spring energy storage mechanism, to produce more great Cheng further
The power-assisted effect of degree, then need using multistage movable pulley mechanism, the spring energy storage stroke of spring energy storage mechanism also can be simultaneously at double
Increase.
Further, the ball and socket joint of described first limbs or the second limbs is the eccentric wheel structure of radius change.Realize dermoskeleton
Bone joint uprightly resets, angle and curved when micro power-assisted, wide-angle bending when obvious power-assisted function.
Assume that the outline radius of eccentric is determined by R (α) with the change curve of bent angle alpha, spring energy storage mechanism
Rigidity is k, then arbitrarily under angle of bend, the differential form of the power torque that ectoskeleton joint is subject to is dT=k R2(α)dα.Cause
This, have the ectoskeleton joint of eccentric wheel structure by erectility to any angle of bend θ when, the power torque that joint is subject to isCan see, no matter being growth rate dT of power torque, or total value T of power torque, all with
Square being directly proportional of eccentric radius.
When its reason is ectoskeleton articulation, described bracing wire is pressed on eccentric, the tensile elongation of bracing wire and eccentric
All footpaths equal, and all footpaths of eccentric are then determined by the radius of joint flexion angle and eccentric herein, thus like pass
Under bent-segment angle, eccentric radius are bigger, then bracing wire tensile elongation is bigger, and then the deformation degree of spring energy storage mechanism is got over
Greatly；Spring energy storage mechanism is common by spring energy storage mechanism deformation power size and eccentric radius to the power torque size in joint simultaneously
With determining, under identical deformation power, bigger eccentric radius, the power torque that it produces is bigger.Above-mentioned using eccentric
Characteristic, even with linear elasticity accumulating mechanism, also can produce nonlinear power-assisted effect.
When the effect of described non-linear power-assisted is human body walking with load, need most power-assisted situation be usually heavy burden climb
In the stage, now the knee joint of human body and the angle of bend of hip joint are all larger.And human body is in level road walking with load, the knee joint of human body
The angle of bend of joint and hip joint is all less, and each joint does not need excessive power-assisted.More power-assisteds mean on the contrary
Human body needs flexible member is carried out more accumulation of energys, and then affects the normal gait of human body walking.Using eccentric mechanism, just
Achievable power-assisted joint power-assisted low effort in angle and curved, the non-thread that power-assisted effect is remarkably reinforced when wide-angle bends
Property power-assisted effect.
Further, the contour curve of described eccentric can be by two different concentric circulars of radius and smooth between two circles
Easement curve combines.When joint is in erectility, bracing wire is pressed on the outline of minor radius circle；Bending until joint
Angle reachesAfterwards, bracing wire is pressed on the smoothed curve between two concentric circulars described in transition；Continue bending joint, bracing wire will bear against greatly
On the outline of radius circle.Using the described eccentric combining concentric circle contour, ectoskeleton joint has obvious two-part and helps
Power effect.It is less than in angle of bendWhen, ectoskeleton joint assistance low effort, the spring energy storage mechanism in joint is straight except having
Vertical reset response, will not carry out obvious power-assisted to joint substantially, also body gait will not be produced and significantly affect；Work as arthrogryposises
Angle is more thanAfterwards, substantially, the bending further in joint needs human body to do work to realize elastic machine ectoskeleton joint assistance effect
The accumulation of energy of structure, and then when stretching when joint, spring energy storage mechanism can provide extra power torque for joint.
Further, the contour curve of described eccentric can also adopt involute in form.The eccentric in ectoskeleton joint exists
Under erectility, the eccentric profile that described bracing wire is pushed down has least radius；With the increase of angle of bend, bracing wire is pressed
The eccentric profile radius lived become involute in form to be gradually increased with angle of bend.The eccentric of described involute in form, does not have
Significantly stagewise power-assisted effect, but the same power-assisted low effort in joint angle and curved, help when angle of bend is larger
Power effect is gradually obvious, and persistently strengthens.
The contour curve of described eccentric can also be other multiple gradient ramp forms, and its non-linear power-assisted effect is permissible
By formulaIt is predicted.
Further, when described extension spring, stage clip do accumulating mechanism using nonlinear spring, can be adjusted by spring pre-tightening
Device；When doing accumulating mechanism using gases at high pressure, can be by changing initial gas pressure, thus realize different degrees of power-assisted adjusting
Section.Described different degrees of power-assisted is adjusted, in the case of referring to bear different degrees of heavy burden for wearer, passive type ectoskeleton
The power-assisted size in joint can be adjusted accordingly.Its effect is when wearer bears and gentlier bears a heavy burden, and can adopt less
Power-assisted effect, in so walking every time rhaeboscelia when less to the accumulation of energy degree of servomechanism, contribute to wearer and easily walk；
And when wearer bears heavier heavy burden, then can be using larger power-assisted effect, although wearing during rhaeboscelia of so walking every time
Wearer needs larger power that elastic mechanism is carried out with accumulation of energy, but the degree of power assistance that during straight legs, spring energy storage device provides is also relatively
Greatly, such wearer is bearing ability effectively power-assisted during heavier heavy burden is climbed.
Described nonlinear spring refers to there is different spring pitchs, spring diameter or spring line footpath in single spring not
Regular spring.The elastic stiffness of this nonlinear spring constantly increases with the increase of deformation degree, therefore its elastic force
Change curve becomes non-linear.Described spring pre-tightening adjusting means, changes the first of spring by changing the position at spring supporting end
Beginning deformation extent, and then change initial tension of spring.For torsion spring structure, spring supporting end can be the first limbs or the second limbs
Spring mounting groove；For stage clip structure, spring supporting end is the spring terminal near ectoskeleton joint；For extension spring structure, spring
Support end is the spring terminal away from ectoskeleton joint.
Further, described spring pre-tightening adjusting means can be tenon sliding groove structure, tenon connecting spring support end it is possible to
Chute moves.The fluting direction of chute is identical with the deformation direction of spring, is then along ectoskeleton joint for torsion spring
Direction of rotation；Then along its compression or draw direction for stage clip or extension spring, due to stage clip and extension spring generally concentric to placement
In connecting rod, therefore chute direction is identical with the axial direction of connecting rod.Some grades of gear fixing grooves are had on chute, tenon leads to
Can snap in corresponding gear fixing groove when crossing slide to arbitrary number of level gear, and there is no the situation of artificial active force
Under, tenon, without departing from fixing groove, thus just achieves the spring pre-tightening adjusting means with different gears.
Further, for stage clip or extension spring structure, described spring pre-tightening adjusting means can also be real by screw slider structure
Existing.Slide block is spring supporting end, its axial centre perforate, and has the silk mouth with leading screw cooperation, and spring supporting has outside end
Spline, is matched with the keyway inside connecting rod it is ensured that it can only be along the axial linear movement of connecting rod, without with leading screw altogether
With rotation.Leading screw and spring are coaxially mounted in connecting rod, and there are bevel gear or worm gear arrangement in one end of leading screw, can with perpendicular to even
Bevel gear on the pretightning force adjustment knob of extension bar or worm structure match, the leading screw other end then silk mouth with spring support seat
Match.When pretightning force adjusts knob band dynamic bevel gear or worm screw rotation, leading screw can be driven to rotate, and then drive spring to prop up
Support seat moves along spring-compressed or lax direction, plays the effect of adjustment initial tension of spring.
As described above, the beneficial effects of the utility model are：This device carries out power-assisted using passive type accumulating mechanism, therefore
For relatively existing all hydraulic formula, vapour-pressure type, electric motor type active power-assisted technology, more simple and reliable and with low cost, realize light
Quantify.
This device is except realizing joint limit function using chute slide block mechanism, it would however also be possible to employ magnetic mechanism or wedge
Groove mechanism realizes the upright reset in joint and auto-lock function moreover it is possible to adopt the accumulating mechanism such as spring or gas push rod, realizes joint
Passive type power-assisted.And, realize the non-linear power-assisted under differently curved angle using eccentric mechanism, by spring pre-tightening or gas
The dynamics that the pressure controlled mode of cylinder realizes servomechanism is adjusted.
Brief description
Fig. 1 is the exploded perspective view in embodiment 1 using magnetic resetting mechanism；
Fig. 2 is the installation sectional view of Fig. 1；
Fig. 3 is the exploded perspective view being resetted using cotter mechanism radial compaction in embodiment 2；
Fig. 4 is the installation sectional view of Fig. 3；
Fig. 5 is the exploded perspective view being resetted using cotter mechanism axial compression in embodiment 3；
Fig. 6 is the exploded perspective view of embodiment 3 opposite side；
Fig. 7 is the cross-sectional schematic of embodiment 3；
Fig. 8, Fig. 9 are to adopt torsion spring in embodiment 4 as the explosive view of accumulating mechanism；
Figure 10 is to adopt stage clip in embodiment 5 as the explosive view of spring energy storage mechanism；
Figure 11 is the sectional view of Figure 10；
Figure 12 is to adopt extension spring in embodiment 5 as the explosive view of spring energy storage mechanism；
Figure 13 is the sectional view of Figure 12；
Figure 14 is to adopt gas push rod in embodiment 5 as the explosive view of spring energy storage mechanism；
Figure 15 is the sectional view of Figure 14；
Figure 16 is the explosive view in embodiment 6 using eccentric wheel structure and position-limit mechanism；
Figure 17 is the structural representation of reaction limited impression and spacing block set in Figure 16；
Figure 18 is the sectional view of Figure 16.
Figure 19 is the explosive view in embodiment 6 using involute eccentric wheel structure and position-limit mechanism；
Figure 20 is the sectional view of Figure 19；
Figure 21 is the structural representation of reaction limited impression and spacing block set in Figure 19；
Figure 22 is the explosive view in embodiment 7 using movable pulley and guy structure；
Figure 23 is the sectional view of Figure 22；
When Figure 24 is that in embodiment 8, torsion spring is as spring energy storage mechanism, using tenon mechanism as pre-tightening force adjusting device
Explosive view；
Figure 25 is the installation diagram of Figure 24；
When Figure 26 is that in embodiment 8, stage clip is as spring energy storage mechanism, using tenon mechanism as pre-tightening force adjusting device
Schematic diagram；
When Figure 27 is that in embodiment 8, stage clip is as spring energy storage mechanism, adjusted as pretightning force using leading screw and worm and gear
The schematic diagram of regulating device；
Figure 28 is the internal structure sectional view of Figure 27；
Figure 29 is that in embodiment 8, torsion spring adopts leading screw and bevel gear pair as the schematic diagram of pre-tightening force adjusting device；
Figure 30 is the structural representation of ectoskeleton power assisting device in embodiment 9；
Figure 31 is the structural representation that in embodiment 9, elastic accumulating mechanism is arranged on Leg bones；
Figure 32 is the structural representation that in embodiment 9, elastic accumulating mechanism is arranged on waist connecting rod；
Figure 33 is the explosive view of hip joint in embodiment 9；
Figure 34 is the sectional view of Figure 33；
When Figure 35 is to be respectively adopted to wait radius pulleys and eccentric as ball and socket joint, the power-assisted curve that experiment records.
Piece mark explanation
1 first limbs
11 ball and socket joints
12 Magnet
13 blocks
14 connecting rods
15 installing ports
16 tension spring pins
17 inflate hole
18 stopper slots
19 bracing wire holes
2 second limbs
21 ball and socket joints
22 magnetic-attraction element
23 blocks
24 movable pulleys
25 bracing wire grooves
26 support shafts
27 limited blocks
28 connecting holes
31 springs
32 voussoirs
33 wedge grooves
34 glands
35 voussoir disks
36 boss
40 splines
41 torsion springs
42 adjusting knobs
43 regulating tanks
44 fixing grooves
45 bracing wires
46 tenons
47 stage clips
48 briquettings
49 support bases
50 keyways
51 worm screws
52 worm gears
53 leading screws
54 knobs
55 bevel gear pairs
56 extension springs
57 draw rings
58 gas push rods
59 pistons
61 thigh skeletons
62 Leg bones
63 elastic heel braces
64 waist connecting rods
65 hip joints
66 big leg joint terminations
67 waist joints termination
68 oscillating bearings
69 knapsack bracing frames
71 bearings
72 bolts
73 nuts
74 pads
75 axle sleeves
Specific embodiment
Hereinafter embodiment of the present utility model is illustrated by particular specific embodiment, those skilled in the art can be by this
Content disclosed by description understands other advantages of the present utility model and effect easily.
Embodiment 1
As depicted in figs. 1 and 2, a kind of ectoskeleton joint with reset function, including the first limbs 1 and the second limbs 2, this
Taking knee joint as a example illustrate in example, the wherein first limbs 1 correspond to upper joint, the second limbs 2 correspond to hypozygal, the first limb
The ball and socket joint 11,21 of body 1 and the second limbs 2 passes through bearing 71, bolt 72, nut 73 rotation connection, in order that the first limbs 1 He
Second limbs 2, when tending to upright, can quickly reset, and is provided with multiple in this example between the first limbs 1 and the second limbs 2
Position mechanism.Resetted using attraction mechanism in this example, on the first limbs 1, Magnet 12 is set, the second limbs 2 set
It is equipped with the magnetic-attraction element 22 attracting each other with Magnet 12 and carries out adhesive, magnetic-attraction element 22 can be steel column, iron prop or Magnet.Magnet 12
It is arranged in the mounting groove that the first limbs 1 and the second limbs 2 open up with magnetic-attraction element 22.In order to prevent joint from rotating backward, the
One limbs 1 and the second limbs 2 have been oppositely disposed block 13,23, offset when turning to erectility, mounting groove in this example
It is opened in so that Magnet 12 can be relative with magnetic-attraction element 22 on block 13,23, and close.
Embodiment 2
As shown in Figure 3 and Figure 4, in this example, the ball and socket joint 11,21 of the first limbs 1 and the second limbs 2 passes through bearing 71, bolt
72nd, nut 73 rotates and connects, in order that the first limbs 1 and the second limbs 2, when tending to upright, can quickly reset, this example
In be provided with resetting-mechanism between the first limbs 1 and the second limbs 2, it includes the spring 31, Yi Jixiang as hold-down mechanism
The voussoir 32 of cooperation and wedge groove 33, the radial direction from joint for the spring 31 applies elastic force to voussoir 32, and wherein spring 31 is mounted vertically in
In the groove that second limbs 2 open up, wedge groove 33 is opened in the outer extended surface of ball and socket joint 11 arc of the first limbs 1, and voussoir 32 is located at bullet
Above spring 31, it is pressed in wedge groove 33, the mating surface being tilted by wedge groove 33 and voussoir 32, vertical pressure is converted into wedge
The tangential active force of groove 33 is so that joint can automatically reset when tending to upright.The wherein higher side of voussoir 32 and wedge groove
33 side walls offset, and prevent joint from inverting.
Embodiment 3
The mode being also adopted by inclined-plane cooperation in this example is resetted, as different from Example 2, the force side of hold-down mechanism
To with joint axis parallel.As shown in Figures 5 to 7, formed along rotation between the ball and socket joint of the first limbs 1 and the second limbs 2
Turn the angled engagement surface in direction, and so that the first limbs 1 and the second limbs 2 is compressed lateral by tension or hold-down mechanism, curved
During return after song, it is applied to inclined plane in the active force of tension or hold-down mechanism, makes the first limbs 1 and the second limbs 2
Move to initial position along inclined plane.
In this example, open up connecting hole in the first limbs 1 and the second limbs 2 ball and socket joint 11,21 centers, outside the second limbs 2
Side arranges a voussoir disk 35, and the prominent boss 36 in voussoir disk 35 middle part stretches in the second limbs 2 connecting hole 28 and passes through spline with it
With keyway cooperation, enable the second limbs 2 and voussoir disk 35 synchronous axial system, spring 31 is enclosed within outside gland 34, the end face of gland 34
Spring 31 one end is compressed by step, and spring 31 other end is against on the inside extension of boss 36 of voussoir disk 35, thus giving wedge
Block disk provides axial compressive force, and gland 34 axle center also has connecting hole, and bolt 72 runs through ball and socket joint 11, bearing 71, ball and socket joint 21, wedge
Block disk 35 and gland 34, and tighten cooperation with nut 73, gland 34 not only acts as preloading spring under the fastening effect of nut 73
31 effect, also withstands ball and socket joint 21 simultaneously, will between the first limbs 1 and the second limbs 2 lateral compression it is ensured that in motion not
Can loosen.The voussoir 32 of multiple arcs is wherein provided with voussoir disk 35 inwall, voussoir 32 side is inclined plane, in the first limb
Multiple arc wedge grooves 33 corresponding with voussoir 32 are offered on body 1 inwall, the bottom land of arc wedge groove 33 is and voussoir 32 cooperation
Inclined plane.Relatively rotate between voussoir 32 and wedge groove 33 during arthrogryposises, in straightening procedure, under spring 31 effect, make
Its voussoir 32 resets, thus reaching the effect of Rapid reset.Meanwhile, voussoir 32 and wedge groove 33 cooperation also prevent the reverse of joint
Rotate.
Embodiment 4
Shown in Fig. 8, Fig. 9, a kind of ectoskeleton joint with reset function, including the first limbs 1 and the second limbs 2,
It is provided with spring energy storage mechanism, this spring energy storage mechanism is in the first limbs 1 and the second limbs 2 between one limbs 1 and the second limbs 2
Passive accumulation of energy when bending, release elastic force during the joint that the first limbs 1 and the second limbs 2 are formed is stretched and power-assisted, real
Now reset.
In this example, the first limbs 1 lower end ball and socket joint is corresponding with the second limbs 2 upper end ball and socket joint to offer annular mounting groove,
Spring energy storage mechanism is chosen as torsion spring 41, and torsion spring is arranged in annular mounting groove, and torsion spring 41 one end is against on the first limbs 1, separately
One end is against on the second limbs 2.It is provided with position-limit mechanism in order to limit its slewing area, it includes being opened in the first limbs 1
Stopper slot 18 on ball and socket joint 11, and it is arranged on the limited block 27 on the second limbs 2 ball and socket joint 21, by limited block 27 and limit
Rotary spacing is realized in the cooperation of position groove 18.
Embodiment 5
It is with the difference of embodiment 4 in this example, spring energy storage mechanism is extension spring, stage clip or gas push rod, elasticity stores
Can mechanism one end be fixed on the first limbs 1, the other end is connected with the second limbs 2 by bracing wire 45, described bracing wire 45 is pressed in the
On the ball and socket joint of one limbs 1 or the second limbs 2, when arthrogryposises, ball and socket joint rotates and passes through bracing wire 45 makes spring energy storage machine
Structure stress and accumulation of energy.
As shown in Figure 10 and Figure 11, spring energy storage mechanism adopts stage clip 47, and the first limbs 1 are provided with connecting rod 14, even
It is provided with briquetting 48, described stage clip 47 is located between briquetting 48 and the first limbs 1, described bracing wire 45 upper end and briquetting in extension bar 14
48 connections, bracing wire 45 lower end passes through the bracing wire hole 19 of the first limbs 1 ball and socket joint 11, is pressed in drawing on the second limbs 2 ball and socket joint 21
In wire casing, the ball and socket joint 21 of described second limbs 2 is actually the grade radius pulleys being fixedly connected with the second limbs 2.Second limb
The bracing wire groove end of body 2 ball and socket joint 21 has bracing wire hole 29, and bracing wire 45 passes through the bracing wire hole 29 of the second limbs 2, and uses bracing wire end
Bracing wire is locked by head.When ectoskeleton arthrogryposises, the ball and socket joint 21 of the second limbs 2 rotates, and makes pressure by elongating bracing wire 45
Spring 47 stress and accumulation of energy；When ectoskeleton joint is stretched, stage clip 47 passes through withdrawal bracing wire, its pulling force producing and the second limbs 2
The radius that the pulley of ball and socket joint 21 has together decides on rotating torque produced by the external skeletal joint of servomechanism.Wherein close
Section header 11,21 passes through bearing 71, bolt 72, nut 73, pad 74 and axle sleeve 75 etc. and rotates connection.Bracing wire 45 can for steel wire or
The devices such as drag-line.
As shown in Figure 12 and Figure 13, when using extension spring 56 as spring energy storage mechanism, extension spring 56 upper end hangs over connecting rod
On the tension spring pin 16 that 14 laterally wear, lower end is connected with the draw ring 57 of bracing wire 45 upper end, and other structures and stage clip 47 are as elasticity
Similar during accumulating mechanism.When adjusting its initial pretightning force, can be realized by changing the height of tension spring pin 16, can refer to stage clip 47
Height adjusting structure be designed, here is no longer stated one by one.
As shown in Figure 14 and Figure 15, when using gas push rod 58 as spring energy storage mechanism, connecting rod 14 itself forms storage
Gas chamber, is provided with gas push rod 58 and piston 59 in connecting rod 14, connecting rod 14 opens up and inflates hole 17, and gas push rod 58 lower end is even
Connect bracing wire 45, piston 59 is located at the within the chamber of connecting rod 14, accumulation of energy is carried out by gas pressure, change initial gas pressure, can adjust
Save initial pretightning force.
Embodiment 6
Further, in order to prevent joint, the twisting of joints rotates forward, and to realize joint motions spacing simultaneously, in the first limbs and
The position-limit mechanism of its rotational angle restricted is set between second limbs.
As shown in Figure 16 to Figure 18, the ball and socket joint 11 of the first limbs 1 offers stopper slot 18 along direction of rotation,
Limited block 27 corresponding with stopper slot 18 is provided with the ball and socket joint 21 of two limbs 2, is limited by stopper slot 18 and limited block 27
The slewing area in joint.
Meanwhile, in this example, ball and socket joint 21 uses eccentric wheel structure, realizes non-linear power-assisted, and bracing wire 45 bypasses ball and socket joint
Bracing wire groove 25 on 21 outlines, upper end connects spring energy storage mechanism, and lower end is fixed on the second limbs 2.Non-linear power-assisted
Effect is when being human body walking with load, and the situation needing most power-assisted is usually born a heavy burden ramp-up period, now the knee joint of human body and
The angle of bend of hip joint is all larger.And human body is in level road walking with load, the knee joint of human body and the angle of bend of hip joint
All less, and each joint does not need excessive power-assisted.More power-assisteds mean that human body needs to spring energy storage mechanism on the contrary
Carry out more accumulation of energys, and then affect the normal gait of human body walking.Using eccentric mechanism, just can achieve power-assisted joint little
Power-assisted low effort during angle bending, the non-linear power-assisted effect that power-assisted effect is remarkably reinforced when wide-angle bends.
Further, the contour curve of described eccentric is by smoothed between two different concentric circulars of radius, and two circles
Cross curve combination to form.When joint is in erectility, bracing wire is pressed on the outline of minor radius circle O1；Until bracing wire was pressed in
Cross that on the smoothed curve between described two concentric circulars, (now the angle of bend in joint is)；Continue bending joint, bracing wire will bear against greatly
On the outline of radius circle O2.Using the described eccentric combining concentric circle contour, ectoskeleton joint has obvious two-part
Power-assisted effect.It is less than in angle of bendWhen, ectoskeleton joint assistance low effort, the spring energy storage mechanism in joint is except having
Upright reset response, will not carry out obvious power-assisted to joint substantially, also body gait will not be produced and significantly affect；When joint is curved
Bent angle is more thanAfterwards, substantially, the bending further in joint needs human body to do work to realize elasticity ectoskeleton joint assistance effect
The accumulation of energy of mechanism, and then when stretching when joint, spring energy storage mechanism can provide extra power torque for joint.
As shown in Figure 19 to Figure 21, the contour curve a of eccentric can also adopt involute in form.Ectoskeleton joint inclined
In an erect condition, the eccentric profile that bracing wire 45 is pushed down has least radius to heart wheel；With the increase of angle of bend, draw
The eccentric profile radius that line 45 is pushed down become involute in form gradually to increase with angle of bend.The eccentric of involute in form,
There is no obvious stagewise power-assisted effect, but the same power-assisted low effort in joint angle and curved, when angle of bend is larger
Shi Zhuli effect is gradually obvious, and persistently strengthens.For limiting rotating angle, likewise, on the ball and socket joint 11 of the first limbs 1
Offer stopper slot 18 along direction of rotation, limited block corresponding with stopper slot 18 is provided with the ball and socket joint 21 of the second limbs 2
27.
Embodiment 7
As shown in Figure 22 and Figure 23, spring energy storage mechanism one end is fixed, one end activity, is arranged in the first limbs 1, the
Support shaft 26 is provided with two limbs 2, support shaft 26 is provided with movable pulley 24, bracing wire 45 one end is fixed on the first limbs 1
On the end face of joint, bypass, by behind the bracing wire hole 19 in the first limbs 1 ball and socket joint 11, the movable pulley 24 being assemblied on the second limbs,
And from newly wearing go back to the bracing wire hole 19 in the first limbs 1, the other end of bracing wire 45 continues to extend, and connects the activity of spring energy storage mechanism
End.Position-limit mechanism in this example, pre-tightening force adjusting device etc. is referred to embodiment 5 and embodiment 6.
The degree of power assistance of spring energy storage mechanism can be made double using movable pulley mechanism.Stage clip, extension spring in same stiffness
Or under the gas push rod of same pressure and sectional area acts on, the device power-assisted effect ratio having movable pulley mechanism does not have movable pulley machine
The device degree of power assistance of structure is twice.As want, in the case of using identical spring energy storage mechanism, to produce more great Cheng further
The power-assisted effect of degree, then need using multistage movable pulley mechanism, the spring energy storage stroke of spring energy storage mechanism also can be simultaneously at double
Increase.
Embodiment 8
When described torsion spring, extension spring, stage clip do accumulating mechanism using nonlinear spring, can be adjusted by initial tension of spring
Device adjusts power-assisted；When doing accumulating mechanism using gases at high pressure, can be by changing initial gas pressure, thus realizing in various degree
Power-assisted adjust.Described different degrees of power-assisted is adjusted, in the case of referring to bear different degrees of heavy burden for wearer, passively
The power-assisted size in formula ectoskeleton joint can be adjusted accordingly.Its effect is when wearer bears and gentlier bears a heavy burden, permissible
Using less power-assisted effect, less to the accumulation of energy degree of servomechanism during each rhaeboscelia in so walking, contribute to wearer
Easily walk；And when wearer bears heavier heavy burden, then can adopt larger power-assisted effect, although rhaeboscelia of so walking every time
During wearer all need larger power that elastic mechanism is carried out with accumulation of energy, but the power-assisted that during straight legs, spring energy storage device provides
Degree is also larger, and such wearer is bearing ability effectively power-assisted during heavier heavy burden is climbed.
Nonlinear spring described further refers to exist different spring pitchs, spring diameter or spring wire in single spring
The irregular spring in footpath.The elastic stiffness of this nonlinear spring constantly increases, therefore its bullet with the increase of deformation degree
The change curve of property power becomes non-linear.Described spring pre-tightening adjusting means, changes bullet by changing the position at spring supporting end
The initial deformation degree of spring, and then change initial tension of spring.For torsion spring structure, spring supporting end can be the first limbs or second
The spring mounting groove of limbs；For stage clip structure, spring supporting end is the spring terminal near ectoskeleton joint；For extension spring knot
Structure, spring supporting end is the spring terminal away from ectoskeleton joint.
On the basis of embodiment 4, it is to reach to well adapt to effect in this example, is provided with the regulation dress of torsion spring pretightning force
Put, as shown in figures 24 and 25, be tenon 46 and regulating tank 43 structure in this example, open up along the direction of rotation in ectoskeleton joint
There is regulating tank 43, regulating tank 43 has multistage gear fixing groove 44, tenon 46 is slid into by regulation can during arbitrary number of level gear
To snap in corresponding gear fixing groove 44, and in the case of there is no artificial active force, tenon 46 without departing from fixing groove 44,
Thus just achieve the pretightning force regulation with different gears, wherein tenon 46 is bent to form by one end of torsion spring 41, bending segment
Parallel with shaft center line, stretch out regulating tank 43 adjusting knob 42 being cased with for stirring, power-assisted size according to needed for bear a heavy burden
Difference, stirs the position of adjusting knob 42, realizes the regulation of initial pretightning force.Similarly employ limited block 27 and stopper slot 18
Rotary spacing is realized in cooperation.
Further as shown in figure 26, on the basis of embodiment 5, in order to meet the regulation of initial pretightning force, along connection
Bar 14 axially offers regulating tank 43 and multistage fixing groove 44, and tenon 46 is arranged on a support base 49, and stage clip 47 lower end supports
On support base 49, upper end is pushed down by briquetting 48.Realize the regulation of initial pretightning force by stirring the position of tenon 46 up and down.
As in figs. 27 and 28, pre-tightening force adjusting device can be with screw slider structure, and leading screw 53 is co-axially mounted with stage clip 47
In connecting rod 14, the base of leading screw 53 is supported on the first limbs 1 corresponding cooperation in the hole and can rotate, the axle of leading screw 53
The heart has through hole to be used for through bracing wire 45, and the side wall of support base 49 has spline 40 and the keyway 50 of connecting rod 14 inwall to coordinate, thus
Limit support base 49 can only sliding axially along connecting rod 14, the endoporus of support base 49 is provided with the silk mouth with leading screw 53 cooperation, silk
Thick stick 53 passes through silk mouth to coordinate with support base 49 screw thread；Also include the drive mechanism driving leading screw 53 to rotate, in this example, adopt worm gear
Worm mechanism, worm gear 52 is coaxially fixed with leading screw 53, and worm screw 51 is arranged in the installing port 15 that connecting rod 14 opens up, and outer end connects
Knob 54, turning knob 54 can achieve the position adjustments vertically of support base 49, thus realizing the regulation of initial pretightning force.
As shown in figure 29, it would however also be possible to employ bevel gear pair 55 is driven, one of bevel gear is fixing with leading screw 53, separately
One bevel gear is connected with knob 54.
Embodiment 9
As shown in figure 30, be this utility model ectoskeleton joint in ectoskeleton power assisting device as kneed application,
Including the ectoskeleton joint of any one above-mentioned embodiment, also include thigh skeleton 61, Leg bones 62, waist connecting rod 64
With knapsack bracing frame 69, Leg bones 62 lower end is connected with elastic heel brace 63, is made up of elastomeric material naturally it is also possible to use spring
Substitute, because the range of activity at ankle is larger, for ensureing human body walking freely, do not increase excessive constraint, only fix in shank
Bottom adds an elastic heel brace 63, slows down the impact producing when whole mechanism is contacted with ground.Described thigh skeleton 61 upper end
It is connected by oscillating bearing with waist connecting rod 64, there are three rotary freedoms, realize the bending and stretching of hip joint 65, side-sway respectively
And rotary motion.Based on the complexity of organization of human body, compared with other joints flexibly, one degree of freedom much can not meet hip joint 65
The needs of mechanism kinematic, are used oscillating bearing as connection parts so that hip joint 65 position has 3 degree of freedom, make hip
Joint 65 position not only can swing, include simultaneously and swing and rotary motion.Such design can ensure that machine
The harmony of structure, neither limits human motion it is also possible to guarantee the security performance moved.Thigh skeleton 61 and 62 points of Leg bones
Do not constituted by two sections, between two sections, correspondence offers height adjusting holes, and is fixed by Quick Release pin, realizes thigh skeleton 61 length
Adjustable, Leg bones 62 adjustable length.Ectoskeleton joint therein uses as knee joint, and connecting rod therein 14 is as thigh
The ingredient of skeleton 61, spring energy storage mechanism is arranged in thigh skeleton 61.In this example taking extension spring 56 as a example, other embodiment
In can adopt remaining spring energy storage mechanism.
As seen in figs. 33 and 34, wherein hip joint 65 includes big leg joint termination 66, waist joint termination 67 and joint shaft
Hold 68, oscillating bearing 68 and big leg joint termination 66 are rotated by bolt and nut and connect, and waist joint termination 67 is enclosed within joint shaft
Hold 68 bar portion and fixed by the clamping screw coaxially wearing, wherein 66 liang of inwalls in big leg joint termination form cone structure,
Oscillating bearing 68 is made to have the degree of freedom swinging.
As shown in figs. 31 and 32, spring energy storage mechanism can also be arranged in Leg bones 62 or in waist connecting rod 64.
This ectoskeleton power assisting device belongs to passive type ESD, and its structure is simple, therefore reliability and durability；Low cost
Honest and clean and then easy to spread, and do not need extra power to input, therefore can be dressed with distance and use.Device passes through connecting rod machine
The weight of knapsack is shared two pedipulators by structure, is finally transmitted to ground, thus mitigating the heavy burden of operator, and passes through bullet
During spring energy storage equipment will climb, human body needs to divide rhaeboscelia to work needed for heavy burden elevated height and straight legs are entirely transported
Dynamic process, thus reducing the peak load that human leg is subjected to, plays the effect of power-assisted.This device compares traditional quilt
Dynamic formula ectoskeleton, has the advantages that embolia and passive type power-assisted.Wherein there is the ectoskeleton joint of reset and assist function
Compare traditional passive type ectoskeleton joint, mainly there is advantages below：
(1) joint uprightly resets and self-locking：Magnetic attraction unit, when tending to upright state, can be passed through in ectoskeleton joint
The restoring force of part or voussoir wedge groove mechanism realizes the reset in joint, and state of being kept upright under the effect of less external force, from
And avoid ectoskeleton joint that unartificial dead point unstability occurs.
(2) joint passive type power-assisted：By spring energy storage mechanism, it is possible to achieve the passive type power-assisted in ectoskeleton joint, though
So from physicss' angle, the consumed total work of human body is constant, but due to the accumulation of energy in arthrogryposises of spring energy storage mechanism, stretches in joint
Shi Zhuli, thus reduce the peak value of muscular exertion when human body heavy burden is climbed, it is to avoid over loading motion in human body, therefore to negative
Overline has walked power-assisted effect.And, using bracing wire, pulley and straight line spring energy storage mechanism, accumulating mechanism can be arranged in greatly
In lower limb ectoskeleton, shank ectoskeleton, and lumbar support bar, so that the global design of device is more flexible.
(3) non-linear power-assisted：Using bracing wire and eccentric mechanism, non-linear power-assisted can be realized in ectoskeleton joint, its work
During with being human body walking with load, the situation needing most power-assisted is usually born a heavy burden ramp-up period, the now knee joint of human body and hip
The angle of bend in joint is all larger；And human body is in level road walking with load, the knee joint of human body and the angle of bend of hip joint are equal
Less, and each joint does not need excessive power-assisted.More power-assisteds mean that human body needs flexible member is carried out more on the contrary
Many accumulation of energys, and then affect the normal gait of human body walking.Using eccentric mechanism, just can achieve power-assisted joint in low-angle
Power-assisted low effort during bending, the non-linear power-assisted effect that power-assisted effect is remarkably reinforced when wide-angle bends.Figure 35 gives
Identical bracing wire and stage clip mechanism, when radius pulleys and the eccentric such as being respectively adopted as ball and socket joint, what experiment recorded power-assisted
Curve.Wherein, eccentric adopts the concentric-ring pattern eccentric described in example 6, and that is, the outer contour of eccentric is by size not
With two concentric circulars in the middle of in addition gradual transition Curves compilation；And wait the radius of radius pulleys then with above-mentioned concentric-ring pattern eccentric
Middle small radii circle is equal.Liang Zhong mechanism, in the range of bent angle alpha is 0～130 °, carries out 20 times repeating to test respectively
The experiment average arriving.Wherein, X-axis is the bent angle alpha in ectoskeleton joint, the power torque T that Y-axis provides for ectoskeleton joint.
As can see from Figure 34, using etc. radius pulleys ectoskeleton joint with bent angle alpha increase, its power torque T also becomes
Linear increase；And adopt the ectoskeleton joint of eccentric wheel structure in bent angle alpha<When 30 °, the growth slope of its power torque is put down
Slow, but α>The obvious steepening of the slope of power torque after 60 °, and 30 °<α<In the range of 60 °, the growth slope gradually mistake of power torque
Cross.This two-part power-assisted effect and concentric-ring pattern eccentric have inside and outside two kinds of radiuses circle, and the transition between two concentric circulars
The contour feature of curve is consistent.This explanation according to the other forms such as involute eccentric can also have different non-linear
Power-assisted effect, and can be by the power torque formula of above-mentioned derivationIt is predicted.Inclined in Figure 34
Heart wheel theoretical curve is derived from by above-mentioned formula it can be seen that theory is substantially identical with empirical curve.
(4) power-assisted pretension is adjustable：Using nonlinear spring and pretightening force controlling mechanism, or pushed away using the gas of different atmospheric pressure values
Linkage, can also make ectoskeleton joint be directed to different degrees of heavy burden, have different magnitude of power-assisted effect.Due to non-linear
With the difference of deformation degree, its elastic stiffness is also changing spring, and therefore the pretightening force controlling mechanism in different gears acts on
Under, the starting force that spring mechanism shows and elastic stiffness all different；And gas transfer bar mechanism passes through to adjust the air pressure of within the chamber
Value, equally can reach the effect above.
This utility model can be used for transporting relief goods and walking freely in ruins with a varied topography, allows user
Remain able to more easily complete various actions while bearing bigger quality, assist the rescue works of disaster scene；With
When in future battlefield, dress ectoskeletal soldier and will have a stronger physical function, higher capacity for individual action.
Any person skilled in the art all can be without prejudice under spirit and the scope of the present utility model, to above-described embodiment
Carry out modifications and changes.Therefore, such as those of ordinary skill in the art without departing from disclosed in this utility model
Spirit and technological thought under all equivalent modifications of being completed or change, must be contained by claim of the present utility model
Lid.
Claims (10)
1. a kind of ectoskeleton joint with reset function, including the first limbs and the second limbs, the first limbs and the second limbs it
Between connected by articulation it is characterised in that：The resetting-mechanism that also includes being arranged between the first limbs and the second limbs and
Prevent the counter-rotational position limiting structure in joint, described resetting-mechanism provides when the first limbs and the second limbs are close to erectility
Restoring force.
2. a kind of ectoskeleton joint with reset function according to claim 1 it is characterised in that：Described resetting-mechanism by
Magnetic absorption element forms.
3. a kind of ectoskeleton joint with reset function according to claim 1 it is characterised in that：Described resetting-mechanism bag
Include hold-down mechanism and voussoir wedge groove mechanism, voussoir wedge groove mechanism makes to form the cooperation of inclination between the first limbs and the second limbs
Face,
Hold-down mechanism makes the mating surface of inclination produce joint restoring force.
4. a kind of ectoskeleton joint with reset function, including the first limbs and the second limbs, the first limbs and the second limbs it
Between connected by articulation it is characterised in that：Also include the spring energy storage machine being arranged between the first limbs and the second limbs
Structure,
The accumulation of energy when the first limbs and the second limbs passively bend of this spring energy storage mechanism, stretches in the first limbs and the second limbs
During release elastic force and power-assisted.
5. a kind of ectoskeleton joint with reset function according to claim 4 it is characterised in that：Described spring energy storage machine
Structure is torsion spring, and described torsion spring is arranged on joint, and one end is against on the first limbs, and the other end is against on the second limbs.
6. a kind of ectoskeleton joint with reset function according to claim 4 it is characterised in that：Described spring energy storage machine
Structure is extension spring, stage clip or gas push rod, and described spring energy storage mechanism one end is fixed on the first limbs, and the other end passes through bracing wire and the
Two limbs connect, and described bracing wire is pressed on the first limbs or the ball and socket joint of the second limbs, and when arthrogryposises, ball and socket joint rotates simultaneously
Spring energy storage mechanism stress is made and accumulation of energy by bracing wire.
7. a kind of ectoskeleton joint with reset function according to claim 4 it is characterised in that：Described spring energy storage machine
Structure is extension spring, stage clip or gas push rod, and described spring energy storage mechanism first end is fixed on the first limbs, in the joint of the second limbs
Head on be provided with pulley, bracing wire one end is fixed on the first limbs, the bracing wire other end bypass pulley and with spring energy storage mechanism
Second end connects.
8. a kind of ectoskeleton joint with reset function according to claim 5 or 6 or 7 it is characterised in that：Also include adjusting
The adjusting means of the initial pretightning force of section spring energy storage mechanism.
9. a kind of ectoskeleton joint with reset function according to claim 4 to 7 any one it is characterised in that：Institute
State the position-limit mechanism that its rotational angle restricted is set between first limbs and the second limbs.
10. a kind of ectoskeleton joint with reset function according to claim 6 or 7 it is characterised in that：Described first limb
The ball and socket joint of body or the second limbs is eccentric wheel structure, and described bracing wire is pressed on eccentric outline, realizes non-linear power-assisted.
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106109181A (en) * | 2016-05-03 | 2016-11-16 | 袁博 | A kind of reset ectoskeleton joint and ectoskeleton power assisting device thereof |
| CN107693304A (en) * | 2017-10-26 | 2018-02-16 | 河海大学常州校区 | A kind of lower limb rehabilitation robot |
| CN108186287A (en) * | 2018-02-01 | 2018-06-22 | 东南大学 | Multiple degrees of freedom energy storage foot mechanism |
| CN109623782A (en) * | 2018-12-04 | 2019-04-16 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Wearable assistance exoskeleton robot |
| CN110653802A (en) * | 2019-09-30 | 2020-01-07 | 重庆理工大学 | Knee joint movement assistance exoskeleton device |
| CN110744526A (en) * | 2019-10-30 | 2020-02-04 | 重庆理工大学 | Passive lower limb movement assistance exoskeleton device |
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| CN111759682A (en) * | 2020-07-14 | 2020-10-13 | 北方工业大学 | Unpowered human body lower limb assistance exoskeleton device |
| US11141344B2 (en) | 2018-12-27 | 2021-10-12 | Chin-Sung Yang | Assistant apparatus for degenerative joint |
| WO2023179219A1 (en) * | 2022-03-24 | 2023-09-28 | 广州视鹏科技有限公司 | Exoskeleton system |
| WO2023192389A3 (en) * | 2022-03-31 | 2023-11-16 | Regents Of The University Of Michigan | Catcher's knee exoskeleton |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106109181A (en) * | 2016-05-03 | 2016-11-16 | 袁博 | A kind of reset ectoskeleton joint and ectoskeleton power assisting device thereof |
| CN107693304A (en) * | 2017-10-26 | 2018-02-16 | 河海大学常州校区 | A kind of lower limb rehabilitation robot |
| CN108186287A (en) * | 2018-02-01 | 2018-06-22 | 东南大学 | Multiple degrees of freedom energy storage foot mechanism |
| CN109623782B (en) * | 2018-12-04 | 2020-12-08 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Wearable power-assisted exoskeleton robot |
| CN109623782A (en) * | 2018-12-04 | 2019-04-16 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Wearable assistance exoskeleton robot |
| US11141344B2 (en) | 2018-12-27 | 2021-10-12 | Chin-Sung Yang | Assistant apparatus for degenerative joint |
| EP3673884A1 (en) * | 2018-12-31 | 2020-07-01 | Chin-Sung Yang | Assistant apparatus for degenerative joint |
| CN110653802A (en) * | 2019-09-30 | 2020-01-07 | 重庆理工大学 | Knee joint movement assistance exoskeleton device |
| CN110744526A (en) * | 2019-10-30 | 2020-02-04 | 重庆理工大学 | Passive lower limb movement assistance exoskeleton device |
| CN111086015A (en) * | 2019-12-31 | 2020-05-01 | 深圳市优必选科技股份有限公司 | Tail structure and robot |
| CN111759682A (en) * | 2020-07-14 | 2020-10-13 | 北方工业大学 | Unpowered human body lower limb assistance exoskeleton device |
| WO2023179219A1 (en) * | 2022-03-24 | 2023-09-28 | 广州视鹏科技有限公司 | Exoskeleton system |
| WO2023192389A3 (en) * | 2022-03-31 | 2023-11-16 | Regents Of The University Of Michigan | Catcher's knee exoskeleton |
| GB2621615A (en) * | 2022-08-17 | 2024-02-21 | Xothotics Ltd | Exoskeleton |
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Effective date of registration: 20180815 Address after: 400000 2-2-2 6, 193 Longmen Avenue, Kowloon Po, Chongqing. Patentee after: CHONGQING NIUDI TECHNOLOGY DEVELOPMENT Co.,Ltd. Address before: Hunan province Changsha Kaifu District Deja Road No. 109 building 303 room 18 Patentee before: Yuan Bo |
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| IP01 | Partial invalidation of patent right | ||
| IP01 | Partial invalidation of patent right |
Commission number: 5W128313 Conclusion of examination: Declare claims 4 and 6 of the ZL201620386272.4 utility model patent, claims 8 and 10 citing the technical solution of claim 6, and claims 9 citing the technical solution of claim 4 or 6 invalid, and maintain the validity of the patent right on the basis of claims 1-3, 5, 7, claims 8 and 9 citing the technical solution of claim 5 or 7, and claims 10 citing the technical solution of claim 7 Decision date of declaring invalidation: 20221125 Decision number of declaring invalidation: 59271 Denomination of utility model: A kind of Exoskeleton joint with reduction function Granted publication date: 20170301 Patentee: CHONGQING NIUDI TECHNOLOGY DEVELOPMENT Co.,Ltd. |