CN206154300U - Device of human strength is assisted and strengthened - Google Patents

Abstract

The utility model overcomes it is not enough that prior art exists, provides one kind and dressed a device of human strength is assisted and strengthened simple, that the action is convenient, the comfort level is high, in order to solve the technical problem, the utility model discloses a technical scheme do: a device of human strength is assisted and strengthened, includes upper limbs mechanism, low limbs mechanism and backbone mechanism, between the lower part of backbone mechanism and the low limbs mechanism through last low limbs coupling mechanism swing joint together, between the upper portion of backbone mechanism and the upper limbs mechanism through the fixed position swing joint of upper arm together, the utility model discloses but wide application in mechatronic, machinery, electron, sensor, bionical field.

Description

A kind of device for aiding in and strengthening human strength

Technical field

This utility model is related to the technical field such as electromechanical integration, machinery, electronics, sensor, bionical, specially a kind of auxiliary Help and strengthen the device of human strength.

Background technology

Exoskeleton robot technology is the modern complex arts such as a kind of fusion sensing, control, information, fusion, mobile computing, And a kind of wearable mechanical mechanism is provided for operator, as a kind of skeleton bio-robot being enclosed within outside human body, Also referred to as wearable robot, in fields such as military affairs, rehabilitation, transports, the technology has widely application space.

The utility model patent of Application No. 201610454728.0 discloses a kind of semi-automatic skeleton installations of pulling together, should The dynamical system of device needs the main equipments such as air compressor machine, cylinder to be aided in using pneumatics, is taken up too much space, weight Greatly, it is relatively costly.And crotch's structure is designed using linear type, laminating degree is poor, and comfort level is poor.

The utility model of Application No. 201610590102.2 discloses a kind of lightness high speed heavy load lower limb exoskeleton machine Device people, the dynamical system of the robot is hydraulic pressure, and hydraulic drive speed cannot meet more slowly some high speed fortune states, and hydraulic pressure system Unite the inconvenience such as relatively costly later maintenance.In addition back is too inflexible, and flexibility ratio is not high.

The utility model of Application No. 201610511532.0 discloses a kind of lower limb assistance exoskeleton robot, the robot Motor directly add dynamical system speed and have inertia man-machine efficacy poor wayward.Add dynamical system Jing after deceleration device System, it requires that the larger deceleration device of the larger relative motor volume of motor torque is also corresponding larger because leg resistance is larger, no Easy to install and be installed on leg because the quality such as motor, deceleration device are larger, will certainly will be affected by gravity will to leg skeleton There is outside pulling force, because disperses force is not concentrated so man-machine efficacy is poor.Foot adopts rigid connection, rubs with the earth Power is less, and dress needs to fix extremely inconvenient manually, and comfort level is relatively low.

Application No. 201610405845.8 discloses a kind of portable Wearable ectoskeleton upper limb robot, the back of the body of the robot Portion's module is used to carry control system, battery power part, while bear function for realization, but back is without degree of freedom, flexibly Property is poor, and comfort level is relatively low, and man-machine efficacy is poor；And the battery power part as core component and control system leakage are fragile Cause the device paralysis, gripper unit direction is single, narrow application range.

In a word, exoskeleton robot is related at present and there are following problems.

1st, like product spine portion involved at present is designed using linear type, is existed without degree of freedom, laminating degree, is relaxed Relatively low, the great number of issues such as man-machine efficacy difference of appropriateness.

2nd, existing like product adopts the dynamical system such as pneumatics or hydraulic technique, accessory part needed for such system It is more（Such as pneumatics needs the auxiliaries such as air compressor, cylinder, hydraulic pressure to need the large-scale auxiliary such as oil pump, oil cylinder）, it is shared Volume is larger, and weight is larger, relatively costly, and control is complicated, later maintenance inconvenience.

3rd, like product core component involved at present is exposed easily damages outside and affects attractive in appearance.

4th, at present involved like product wears that position is unadjustable, effectively limits the height body of wearer Weight.

5th, at present involved like product due to volume it is larger, heavier-weight is difficult to wear off.

6th, like product involved at present is single upper limb or lower limb, and loading weight is uneven during people's body running, long Time service causes body to produce more problem.And if above-mentioned single module is applied in combination, due to each module design difference compared with Greatly so that total tune is poor.

7th, foot adopts rigid connection, less with the earth frictional force, and dress needs to fix manually, extremely inconvenient, and relaxes Appropriateness is relatively low.

Utility model content

This utility model overcomes the deficiency of prior art presence, there is provided one kind wearing is simple, action is convenient, comfort level A kind of high auxiliary simultaneously strengthens the device of human strength.

In order to solve above-mentioned technical problem, the technical solution adopted in the utility model is：One kind auxiliary simultaneously strengthens people's muscle power The device of amount, including limb mechanism of upper, lower limb mechanism and spinal column mechanism, pass through between the bottom of the spinal column mechanism and lower limb mechanism Upper and lower extremities bindiny mechanism is movably connected, and is lived by upper arm fixed bit between the top of the spinal column mechanism and limb mechanism of upper It is dynamic to link together；

The structure of the lower limb mechanism is：Including foot pedal, calf plate, huckle plate and leg power part, institute The bottom for stating calf plate is connected with foot pedal, and the top of the calf plate is by knee joint connecting shaft and huckle plate Bottom links together, and the top of the huckle plate is movably connected in upper and lower extremities bindiny mechanism by connecting ball head, described Leg power part is located at the rear side of huckle plate, and the top of the leg power part is fixed on huckle plate, described The lower removable of leg power part is arranged on calf plate；

The structure of the limb mechanism of upper is：Including wrist snap ring, forearm snap ring, forearm main structure, big forearm bindiny mechanism, Upper arm snap ring and upper arm main structure, are flexibly connected between the wrist snap ring and forearm snap ring by forearm main structure, described little It is flexibly connected by big forearm bindiny mechanism between arm snap ring and upper arm snap ring, the upper arm snap ring passes through upper arm main structure activity It is connected on upper arm fixed bit, the side of the upper arm main structure is provided with forearm Power Component, the forearm Power Component Top is movably connected in upper arm main structure by the first connecting shaft, and the bottom of the forearm Power Component passes through the second connecting shaft It is movably connected on forearm snap ring；

The structure of the spinal column mechanism is：Be flexible coupling including back girder, bionical spinal column, spinal column, chest cutting ferrule, back master Structure, back are flexible coupling, back movable part and shoulder main structure, and the back girder is T-shaped, and the bottom of the back girder is consolidated Surely it is arranged in upper and lower extremities bindiny mechanism, multiple bionical spinal columns are horizontally-parallel to be arranged on the girder of back, and adjacent is described It is flexible coupling by multiple spinal columns between bionical spinal column and is linked together, the chest cutting ferrule and back main structure is arranged at back The middle part of girder, and the chest cutting ferrule is located at the lower section of back main structure, the back girder is U-shaped, the back girder Two ends top be respectively connected with back and be flexible coupling, the both upper ends thereof correspondence of the back girder is flexible coupling with back and is connected, described Shoulder main structure and back are linked together between being flexible coupling by back movable part；

Upper arm Power Component is provided with two shoulder main structures, the body of the upper arm Power Component is fixed and set Put in shoulder main structure, the output shaft of the upper arm Power Component is movably arranged on upper arm fixed bit.

The leg power part is the electronic electric poles of aluminium alloy 12V, and push rod quality is 1.5kg, and thrust size is 100kg, Speed is 60mm/s, and the electric pushrod is by sensor control.

The calf plate includes calf outside plate and calf inner panel, and the calf outside plate and calf inner panel coordinate Formed in interlayer, the interlayer for placing power supply and PLC components, the PLC components and leg power part, forearm power packages Part and upper arm Power Component are electrically connected.

The bottom of the foot pedal adopts flexible material, and sensor and back-moving spring are arranged in the bottom, described multiple Position spring is used to protect the sensor from extruding.

The back girder includes that more piece girder unit and universal joint are constituted.

This utility model has the advantages that compared with prior art.

1st, this utility model is high using universal ball end degree of freedom and convex surface is just recessed with spinal column is affixed, with universal ball end as core The part such as bionical spinal column of heart laminating degree is greatly improved, and comfort level is strong（Scalable direction）, man-machine efficacy is strong.

2nd, this utility model is in terms of dynamical system, and using the electronic electric poles of aluminium alloy 12v, push rod quality is 1.5kg, thrust Size is 100kg, and speed is 60mm/s（Actual measurement speed is 1.5m/s）Electric pushrod by sensor control, when trigger sensor Electrical power pushrod movement will otherwise keep original state, so speed scalable, a length of 105mm of push rod, a width of 75mm, volume It is less, and take into full account that its size has accomplished to be matched with lower limb to the full extent in design.Upper arm power is led using steel wire The mode drawn, steel wire traction not only greatly improves speed as power but also to make whole utility model be designed beautifully generous.

3rd, this utility model is hidden in core component in extremity body structures interlayer, effectively provides protection, more great Cheng for it Avoid damage on degree, and space availability ratio reach it is higher.

4th, this utility model is capable of achieving people's wearing that same device is adapted to different building shape（The portions such as screw scalable its elongation Position）, substantially increase and use crowd.

5th, this utility model is easy to wear off（Buckle-type connection is very convenient）.

6th, this utility model upper and lower extremities can both be used separately and can also be used together, and upper and lower extremities harmony is good.

Description of the drawings

This utility model is described further below in conjunction with the accompanying drawings.

Fig. 1 is structural representation of the present utility model.

Fig. 2 is the structural representation of spinal column mechanism in this utility model.

Fig. 3 is the structural representation of limb mechanism of upper in this utility model.

Fig. 4 is FB(flow block) of the present utility model.

Fig. 5 is work frame chart of the present utility model.

In figure：1 is limb mechanism of upper, 11 is wrist snap ring, 12 is forearm snap ring, 13 is forearm main structure, 14 is big forearm Bindiny mechanism, 15 be upper arm snap ring, 16 be upper arm main structure, 17 be forearm Power Component, 18 be the first connecting shaft, 19 be second Connecting shaft, 110 be upper arm Power Component, 2 be lower limb mechanism, 21 be foot pedal, 22 be calf plate, 23 be huckle plate, 24 is leg power part, 25 is knee joint connecting shaft, 26 is connecting ball head, 3 is spinal column mechanism, 31 is back girder, 32 are Bionical spinal column, 33 be flexible coupling for spinal column, 34 be chest cutting ferrule, 35 be back main structure, 36 be flexible coupling for back, 37 is that back is lived Moving part, 38 be shoulder main structure, 4 be upper and lower extremities bindiny mechanism, 5 be upper arm fixed bit.

Specific embodiment

As shown in Fig. 1～Fig. 5, a kind of device for aiding in and strengthening human strength of this utility model, including limb mechanism of upper 1, Lower limb mechanism 2 and spinal column mechanism 3, are lived between the bottom of the spinal column mechanism 3 and lower limb mechanism 2 by upper and lower extremities bindiny mechanism 4 It is dynamic to link together, it is movably connected by upper arm fixed bit 5 between the top of the spinal column mechanism 3 and limb mechanism of upper 1；

The structure of the lower limb mechanism 2 is：Including foot pedal 21, calf plate 22, huckle plate 23 and leg power Part 24, the bottom of the calf plate 22 is connected with foot pedal 21, and the top of the calf plate 22 is connected by knee joint Spindle 25 links together with the bottom of huckle plate 23, and the top of the huckle plate 23 is flexibly connected by connecting ball head 26 In upper and lower extremities bindiny mechanism 4, the leg power part 24 is located at the rear side of huckle plate 23, and the leg power part 24 top is fixed on huckle plate 23, and the lower removable of the leg power part 24 is arranged on calf plate 22；

The structure of the limb mechanism of upper 1 is：Connect including wrist snap ring 11, forearm snap ring 12, forearm main structure 13, big forearm Connection mechanism 14, upper arm snap ring 15 and upper arm main structure 16, pass through the main knot of forearm between the wrist snap ring 11 and forearm snap ring 12 Structure 13 is flexibly connected, and is flexibly connected by big forearm bindiny mechanism 14 between the forearm snap ring 12 and upper arm snap ring 15, described Upper arm snap ring 15 is movably connected on upper arm fixed bit 5 by upper arm main structure 16, and the side of the upper arm main structure 16 is arranged The top for having forearm Power Component 17, the forearm Power Component 17 is movably connected in upper arm main structure by the first connecting shaft 18 On 16, the bottom of the forearm Power Component 17 is movably connected on forearm snap ring 12 by the second connecting shaft 19；

The structure of the spinal column mechanism 3 is：It is flexible coupling 33, chest cutting ferrule including back girder 31, bionical spinal column 32, spinal column 34th, back main structure 35, back is flexible coupling 36, back movable part 37 and shoulder main structure 38, and the back girder 31 is T-shaped, The bottom of the back girder 31 is fixedly installed in upper and lower extremities bindiny mechanism 4, and multiple bionical spinal columns 32 are horizontally-parallel to be set Put on back girder 31, being flexible coupling by multiple spinal columns between adjacent described bionical spinal column 32 33 is linked together, described Chest cutting ferrule 34 and back main structure 35 are arranged at the middle part of back girder 31, and the chest cutting ferrule 34 is located at the main knot in back The lower section of structure 35, the back girder 31 is U-shaped, and the two ends of the back girder 31 top is respectively connected with back and is flexible coupling 36, The both upper ends thereof correspondence of the back girder 31 is flexible coupling with back and 36 is connected, and the shoulder main structure 38 and back are flexible coupling 36 Between linked together by back movable part 37；

Upper arm Power Component 110, the sheet of the upper arm Power Component 110 are provided with two shoulder main structures 38 Body is fixedly installed in shoulder main structure 38, and the output shaft of the upper arm Power Component 110 is movably arranged on upper arm fixed bit 5 On.

The leg power part 24 is the electronic electric poles of aluminium alloy 12V, and push rod quality is 1.5kg, and thrust size is 100kg, speed is 60mm/s, and the electric pushrod is by sensor control.

The calf plate 22 includes calf outside plate and calf inner panel, and the calf outside plate and calf inner panel are matched somebody with somebody Conjunction is formed for placing power supply and PLC components in interlayer, the interlayer, and the PLC components are moved with leg power part 24, forearm Power component 17 and upper arm Power Component 110 are electrically connected.

The bottom of the foot pedal 21 adopts flexible material, and sensor and back-moving spring are arranged in the bottom, described Back-moving spring is used to protect the sensor from extruding.

The back girder 31 includes that more piece girder unit and universal joint are constituted.

This utility model adopts bionical spinal column, has compared with multiple degrees of freedom, and motility is strong, and comfort level is high.

Bionical spinal column is adopted with to the structure based on bulb supplemented by spring in this utility model, using universal ball end as Support not only ensure that the alterable in direction but also be easy to connection（Can be directly connected between bulb）, spring be added in fixed plate both sides guarantee The balance on both sides makes to keep straight shape during the powerless effect of whole spinal column, while being flexible coupling with spring etc. ensure that direction Commutability, fixed plate can not only fix bulb spinal column but also can be connected with upper and lower extremities, and fixed plate is water with the one side of bulb Plane another side is convex surface, and convex surface just fits with the concave surface that back spinal column is formed and greatly strengthen its laminating degree.This is imitated Raw spinal column Jing is tested can fit completely people and be adapted to all angles that people bends.

Lower extremities adopt the electronic electric poles of aluminium alloy 12V in this utility model, and push rod quality is 1.5kg, and thrust size is 100kg, speed is 60mm/s, and electric pushrod by sensor control, when trigger sensor, otherwise will by electrical power pushrod movement Original state is kept, so speed scalable, a length of 105mm of push rod, a width of 75mm, small volume, and fully examine in design Consider its size to have accomplished to be matched with lower limb to the full extent.Avoid directly with motor as dynamical system in method, a side In the face of decelerating through motor require it is relatively low make it easier to control, strengthen its work efficiency, be on the other hand easy to processing install.

This utility model leg is provided with interlayer for placing power supply and each control element is largely avoided because external And cause the phenomenons such as damage.

This utility model foot is placed in inside, and base plate added with 4 groups of reset bullets using the higher base plate of pliability, sensor Spring had both protected sensor not caused to damage while in turn ensure that balance substantially increases the comfort level of user by extrusion energetically.

This utility model foot pedal 21 is fixed using automatic clamping button, and user need to only put in footwear will automatic clamping Lock, when de- by kayser switch pin buckle will automatic unlocking, it is very easy to use.

This utility model arm elbow joint greatly improves flexibility ratio by the way of pressure bearing and bar connection, sensor And each wire is hidden in internal avoiding and greatly reduces spoilage with extraneous directly contact, underarm power is pushed away using electronic Bar（Push rod parameter is identical in addition to length with described by leg）, push rod has stronger self-lock ability to be adapted to some the work such as to copy mechanically, By the way of steel wire traction, power source is placed at shoulder upper arm power for servomotor, and steel wire connects ancon equally by upper arm Interior sensor control.

This utility model is the force aid system of general, covers spinal column upper and lower extremities, and whole body both can be used separately can also Whole body is used, solve block combiner it is uncoordinated the problems such as.

This utility model automatically working principle：

1st, power plant module：External information is sent in single-chip microcomputer by sensor, then is performed by Single-chip Controlling motor etc. Element.

2nd, thermal module：Battery temperature is sent to single-chip microcomputer by temperature sensor, Single-chip Controlling numeral method is simultaneously A temperature value can be set by single-chip microcomputer, buzzer will give a warning when set temperature value is reached.

3rd, battery information module：By sensor real-time monitoring battery electric quantity, will be certainly when electricity is less than set value It is dynamic to start stand-by power supply.

Embodiment of the present utility model is explained in detail above in conjunction with accompanying drawing, but this utility model is not limited to Embodiment is stated, in the ken that those of ordinary skill in the art possess, can be with without departing from this utility model objective On the premise of various changes can be made.

Claims (5)

1. a kind of auxiliary and the device of human strength is strengthened, it is characterised in that：Including limb mechanism of upper（1）, lower limb mechanism（2）And ridge Post mechanism（3）, the spinal column mechanism（3）Bottom and lower limb mechanism（2）Between pass through upper and lower extremities bindiny mechanism（4）It is flexibly connected Together, the spinal column mechanism（3）Top and limb mechanism of upper（1）Between pass through upper arm fixed bit（5）It is movably connected；

The lower limb mechanism（2）Structure be：Including foot pedal（21）, calf plate（22）, huckle plate（23）And leg Power part（24）, the calf plate（22）Bottom be connected with foot pedal（21）, the calf plate（22）Top By knee joint connecting shaft（25）With huckle plate（23）Bottom link together, the huckle plate（23）Top pass through Connecting ball head（26）It is movably connected in upper and lower extremities bindiny mechanism（4）On, the leg power part（24）Positioned at huckle plate （23）Rear side, and the leg power part（24）Top be fixed on huckle plate（23）On, the leg power part （24）Lower removable be arranged on calf plate（22）On；

The limb mechanism of upper（1）Structure be：Including wrist snap ring（11）, forearm snap ring（12）, forearm main structure（13）, size Arm bindiny mechanism（14）, upper arm snap ring（15）With upper arm main structure（16）, the wrist snap ring（11）With forearm snap ring（12）It Between pass through forearm main structure（13）It is flexibly connected, the forearm snap ring（12）With upper arm snap ring（15）Between connected by big forearm Mechanism（14）It is flexibly connected, the upper arm snap ring（15）By upper arm main structure（16）It is movably connected in upper arm fixed bit（5）On, The upper arm main structure（16）Side be provided with forearm Power Component（17）, the forearm Power Component（17）Top pass through First connecting shaft（18）It is movably connected in upper arm main structure（16）On, the forearm Power Component（17）Bottom by second connect Spindle（19）It is movably connected in forearm snap ring（12）On；

The spinal column mechanism（3）Structure be：Including back girder（31）, bionical spinal column（32）, spinal column is flexible coupling（33）, chest Cutting ferrule（34）, back main structure（35）, back is flexible coupling（36）, back movable part（37）With shoulder main structure（38）, the back of the body Portion's girder（31）It is T-shaped, the back girder（31）Bottom be fixedly installed on upper and lower extremities bindiny mechanism（4）On, it is multiple described Bionical spinal column（32）It is horizontally-parallel to be arranged on back girder（31）On, adjacent described bionical spinal column（32）Between pass through multiple ridges Post is flexible coupling（33）Link together, the chest cutting ferrule（34）With back main structure（35）It is arranged at back girder（31）'s Middle part, and the chest cutting ferrule（34）Positioned at back main structure（35）Lower section, the back girder（31）It is U-shaped, the back of the body Portion's girder（31）Two ends top be respectively connected with back and be flexible coupling（36）, the back girder（31）Both upper ends thereof correspondence with the back of the body Portion is flexible coupling（36）Connection, the shoulder main structure（38）It is flexible coupling with back（36）Between pass through back movable part（37）Connection Together；

Two shoulder main structures（38）On be provided with upper arm Power Component（110）, the upper arm Power Component（110）'s Body is fixedly installed on shoulder main structure（38）On, the upper arm Power Component（110）Output shaft be movably arranged on upper arm consolidate Positioning（5）On.

2. a kind of auxiliary according to claim 1 and the device of human strength is strengthened, it is characterised in that：The leg power Part（24）For the electronic electric poles of aluminium alloy 12V, push rod quality is 1.5kg, and thrust size is 100kg, and speed is 60mm/s, described Electric pushrod is by sensor control.

3. a kind of auxiliary according to claim 2 and the device of human strength is strengthened, it is characterised in that：The calf plate （22）Including calf outside plate and calf inner panel, the calf outside plate and calf inner panel cooperatively form interlayer, the folder It is used to place power supply and PLC components, the PLC components and leg power part in layer（24）, forearm Power Component（17）With it is upper Arm Power Component（110）Electrical connection.

4. a kind of auxiliary according to claim 3 and the device of human strength is strengthened, it is characterised in that：The foot pedal （21）Bottom adopt flexible material, sensor and back-moving spring be set in the bottom, the back-moving spring is used to protect and passes Sensor is not compact.

5. a kind of auxiliary according to claim 4 and the device of human strength is strengthened, it is characterised in that：The back girder （31）Including more piece girder unit and universal joint composition.