CN206416160U - A kind of pneumatic ectoskeleton power assisting device - Google Patents
A kind of pneumatic ectoskeleton power assisting device Download PDFInfo
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- CN206416160U CN206416160U CN201621491735.XU CN201621491735U CN206416160U CN 206416160 U CN206416160 U CN 206416160U CN 201621491735 U CN201621491735 U CN 201621491735U CN 206416160 U CN206416160 U CN 206416160U
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Abstract
The utility model discloses a kind of pneumatic ectoskeleton power assisting device, part, control system and two performers are worn including body, two performers are worn part by body and connected, performer includes hauling rope, power device, rotary joint and worn in the supporting point part on leg, power device includes air pump, frame and actuating cylinder, rotary joint includes upper joint portion and hypozygal portion, upper joint portion top is fixedly connected with frame, and upper joint subordinate portion is hinged with hypozygal portion top；Control system includes hand control valve, 3-position-3-way pneumatic operated valve and collision type pneumatic operated valve, hand control valve is connected with 3-position-3-way pneumatic operated valve and collision type pneumatic operated valve respectively, the air inlet of collision type pneumatic operated valve is connected with the outlet control end of 3-position-3-way pneumatic operated valve, and the gas outlet of 3-position-3-way pneumatic operated valve is connected with actuating cylinder.The utility model has the advantages that man-machine interaction is good, structure it is dexterous it is light, be quick on the draw and easily operated.
Description
Technical field
The utility model is related to a kind of exoskeleton device, and in particular to a kind of pneumatic ectoskeleton power assisting device.
Background technology
In recent years, the research of Wearable ectoskeleton is gradually risen, it is therefore an objective to which the flexibility of people, wisdom and machine is strong
Property is organically combined.It is mainly used in the fields such as medical rehabilitation, industrial production, individual combat.
The various human body Wearable exoskeleton systems announced at present have a lot, and its function includes improving walking with load energy
Power, heavy material handling power-assisted, the upper and lower limb interruption of service rehabilitation of human body etc., function focuses mostly in human body assisted walk.Its is common
Feature is under the support of power source, to gather human body signal by sensor and feed back to control unit, by patrolling for control unit
Collect after processing, assigning instruction makes power execution unit execution, to realize corresponding function.Lower extremity movement trend can so be brought
Forecasting mechanism is designed, the formulation and implementation of robot control strategy, and power source and light, efficient self-supporting energy source device etc. one is
Row key issue.And these cause human body Wearable exoskeleton system realizing the mistake of corresponding function the problem of have to be solved at present
Cheng Zhong, it is impossible to reach its preferable effect, while expensive manufacturing cost also makes it only reside within the scientific research stage, it is impossible to
It is widely used in industrial production.
Utility model content
For technical problem present in prior art, the purpose of this utility model is：A kind of pneumatic ectoskeleton is provided to help
Power apparatus.
The purpose of this utility model is achieved through the following technical solutions：A kind of pneumatic ectoskeleton power assisting device, including body
Part, control system and two performers are worn, two performers are worn part by body and connected, performer bag
Include hauling rope, power device, rotary joint and wear in the supporting point part on leg, power device include air pump, frame with
And actuating cylinder, rotary joint includes upper joint portion and hypozygal portion, and upper joint portion top is fixedly connected with frame, upper joint portion
Bottom is hinged with hypozygal portion top, and directive wheel and secondary reel are provided with upper joint portion, and secondary reel is arranged at pass
Section portion is with the hinged place in hypozygal portion, being provided with tensioning wheel and main winding wheel, supporting point part is fixed on master in hypozygal portion
On winding wheel, hauling rope two ends are respectively fixed on actuating cylinder and main winding wheel, from top to bottom successively with leading in the middle part of hauling rope
To wheel, secondary reel and tensioning wheel winding；
Control system includes hand control valve, 3-position-3-way pneumatic operated valve and the collision type for controlling actuating cylinder to deflate
Pneumatic operated valve, the gas outlet of hand control valve air inlet control end respectively with 3-position-3-way pneumatic operated valve and the reset of collision type pneumatic operated valve
Control end is connected, and the air inlet of collision type pneumatic operated valve is connected with the outlet control end of 3-position-3-way pneumatic operated valve, and 3-position-3-way is pneumatic
The gas outlet of valve is connected with actuating cylinder, air pump respectively with hand control valve, 3-position-3-way pneumatic operated valve and collision type pneumatic operated valve
Air inlet connection.
It is preferred that, the directive wheel includes directive wheel hinge, directive wheel hinge screw, is oriented to wheel body, directive wheel bearing
And two guiding wheel sleeves, two are oriented to outside the both sides setting that wheel sleeve corresponds to directive wheel bearing inner race, directive wheel bearing
Circle is fixed in guiding wheel body, and directive wheel hinge sequentially passes through a guiding wheel sleeve, directive wheel bearing and another directive wheel
Sleeve and directive wheel hinge two ends stretch out in upper joint portion, directive wheel hinge screw lock is on the screw of directive wheel hinge end
Make guiding wheel sleeve be directed to wheel bearing to be clamped in guiding wheel body.
It is preferred that, the secondary reel includes secondary reel hinge, secondary coiling wheel body, secondary reel bearing, two pairs
Coiling wheel sleeve and two flange bearings, two flange bearing outer rings are connected on upper joint portion two side respectively, two pairs around
The inner ring both sides that the relative both ends of the surface of line wheel sleeve correspond respectively to secondary reel bearing are set, and two secondary coiling wheel sleeves are in addition
Both ends of the surface correspond respectively to the setting of two flange bearing inner rings, and secondary reel hinge sequentially passes through a flange bearing, a secondary reel
Sleeve, secondary reel bearing, another secondary coiling wheel sleeve and another flange bearing and secondary reel hinge two ends are stretched out in
Joint portion, hypozygal portion is articulated with secondary reel hinge.
It is preferred that, the upper joint gag lever post that scope is rotated clockwise for limiting upper joint portion is additionally provided with hypozygal portion
And for limiting the supporting point part gag lever post that supporting point part is rotated counterclockwise, upper joint gag lever post is arranged at upper joint portion up time
On the path that pin is rotated, supporting point part gag lever post is arranged on the path that supporting point part is rotated counterclockwise.
It is preferred that, the tensioning wheel includes tensioning wheel hinge, tensioning wheel hinge screw, tensioning wheel body, tension wheel shaft bearing
And two tensioning wheel sleeves, tension wheel shaft bearing outer-ring, which is fixed on, to be tensioned in wheel body, and two tensioning wheel sleeves correspond to tensioning
The both sides of wheel bearing inner ring are set, and tension wheel shaft bearing outer-ring is fixed in tensioning wheel body, and tensioning wheel hinge sequentially passes through one
Bearing up pulley sleeve, tension wheel shaft bearing and another tensioning wheel sleeve and tensioning wheel hinge two ends stretch out in hypozygal portion, tensioning wheel hinge
Axle screw, which is lock onto on the screw of tensioning wheel hinge end, makes tensioning wheel sleeve that tension wheel shaft bearing is clamped in tensioning wheel body.
It is preferred that, the main winding wheel includes main kinking wheel body, main winding wheel hinge, main kinking wheel bearing, main kinking
Wheel sleeve and external fixture, the both sides that two main kinking wheel sleeves correspond to main winding wheel bearing inner race are set, main kinking
Wheel shaft bearing outer-ring is fixed in main kinking wheel body, and main winding wheel hinge sequentially passes through a main kinking wheel sleeve, main kinking wheel shaft
Hold and another main kinking wheel sleeve and main winding wheel hinge two ends stretch out in hypozygal portion, external fixture is fixedly connected on master
On kinking wheel body, supporting point part is fixed on external fixture.
It is preferred that, the external fixture includes external fixed block and two external fixed plates, two external fixed plates
It is fixedly connected on main kinking wheel body two sides, installation cavity is formed between two external fixed plates, external fixed block is fixed and set
It is placed in installation cavity, hinge hole is longitudinally offered on external fixed block；
The supporting point part includes leg baffle plate, supporting point part articulated section and supporting point part jointed shaft, supporting point part hinge
Socket part is located at leg baffle plate top, and supporting point part articulated section, which is longitudinally offered, is hinged through hole, and supporting point part jointed shaft is connected to hinge
Connect in hole and hinge hole, leg baffle plate bottom is provided with the cambered surface supporting plate that can be engaged with shape on front side of thigh.
It is preferred that, described two performers or so are set, and are provided with setting in the secondary reel of the performer in left side
Directive wheel lower right is placed in, tensioning wheel is located at secondary reel lower right, and main winding wheel then in the lower right of tensioning wheel, is arranged on a left side
The hauling rope of the performer of side is stretched into above the directive wheel and respectively successively around being set to directive wheel lower left quarter, secondary reel bottom
And on tensioning wheel upper right quarter；
The secondary reel for being arranged on the performer on right side is arranged at directive wheel lower left, and it is left that tensioning wheel is located at secondary reel
Lower section, main winding wheel is arranged on the hauling rope of the performer in left side and stretched into above directive wheel then in the lower left of tensioning wheel
And respectively successively around being set on directive wheel right lower quadrant, secondary reel bottom and tensioning wheel upper left quarter；
Wire casing is offered on the main winding wheel outer circumference surface, the one end of wire casing offers rope fastening hole, hauling rope
Winding is in wire casing and hauling rope end is fixed in rope fastening hole.
It is preferred that, the actuating cylinder includes pneumatic means and hauling rope tightening system, and hauling rope tightening system includes
Arm-tie, latch segment, neck bush, spring, arm-tie column and lead, pneumatic means and lead are individually fixed in frame,
Arm-tie two ends are connected with lead, and hauling rope is fixed on lock after passing through arm-tie, arm-tie column, spring and neck bush from the bottom up
On tight block, neck bush top edge is protruding with flange, and spring is socketed on arm-tie column and neck bush, and spring one end connects with arm-tie
Touch, the other end and Hp contacts, pneumatic means clutch end are connected on arm-tie, contact and the arm-tie phase of collision type pneumatic operated valve
Contact is connected.
It is preferred that, the body wear part include Braces hanged over tow shoulders, brace connecting plate, the elastic arm-tie in back, arm-tie connecting seat,
Backboard connecting seat, back fixation plate, pull bar and waistband, two brace bottoms of Braces hanged over tow shoulders are respectively fixedly connected with two dynamic equipments
In the frame of part, two brace tops of Braces hanged over tow shoulders are individually fixed on brace connecting plate, and brace connecting plate is fixed on back bullet
Property arm-tie top, back elasticity arm-tie lower hinge is on back fixation plate, and arm-tie connecting seat is arranged on the elastic arm-tie in back,
Backboard connecting seat is fixed on back fixation plate, and pull bar two ends are respectively hinged on arm-tie connecting seat and backboard connecting seat, back
Fixed plate is fixed in the frame of two power devices, and waistband both sides are individually fixed in the hypozygal portion of two performers.
The utility model has the following advantages and effect relative to prior art：
1st, the utility model have the advantages that man-machine interaction is good, structure it is dexterous it is light, be quick on the draw and easily operated, can
Reach good power-assisted effect and efficiency can be effectively improved, the utility model can be widely applied in each field, using pneumatic flesh
Tendon can reach safe and efficient explosion-proof effect, during use, not produce interference to human motion, such as：Normal walking to people
Obstruction is not produced, and frame of the present utility model, supporting point part, upper joint portion, hypozygal portion etc. is manufactured using aluminium alloy, and this makes
The utility model have the advantages that lightweight, intensity is high, the utility model also have have a wide range of application, it is safe and reliable, use
The advantage that long lifespan, noise are small and manufacturing cost is low.
2nd, control system of the present utility model is by the way of purely mechanic control, therefore, is particularly suitable for colliery, stone
Under the environment such as oil, natural gas.In addition, can accurately perform each action during the work of the utility model control system and with easily operated
With the flexible advantage of use.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation at Fig. 1 rear portions.
Fig. 3 be the utility model be arranged on right side performer it is upright when structural representation.
Fig. 4 is the structural representation for the performer that the utility model is arranged on left side.
Fig. 5 is that Fig. 3 bends schematic diagram when waist does not bend lifting goods in thigh.
Fig. 6 is schematic diagrames of the Fig. 3 when leg vertical of bending over lifts goods.
Fig. 7 is that Fig. 3 is bending over to bend schematic diagram when lifting goods with thigh.
Fig. 8 is the annexation schematic diagram in upper joint portion of the present utility model and hypozygal portion.
Fig. 9 is Fig. 8 explosive view.
Figure 10 is hypozygal portion of the present utility model structural representation.
Figure 11 is Figure 10 explosive view.
Figure 12 is the schematic diagram that pneumatic means of the present utility model is connected with hauling rope tightening system.
Figure 13 is the installation relation schematic diagram of supporting point part of the present utility model and main winding wheel.
Figure 14 is the structural representation of main kinking wheel body of the present utility model.
Figure 15 is the sectional view of main kinking wheel body of the present utility model.
Figure 16 is the schematic diagram after the utility model is worn.
Figure 17 is the structured flowchart of control system of the present utility model.
Wherein, on 1- performers, 2- hauling ropes, 3- power devices, 4- supporting point parts, 5- frames, 6- actuating cylinders, 7-
Joint portion, 8- hypozygals portion, 9- directive wheels, 10- pair reels, 11- tensioning wheels, the main winding wheels of 12-, 13- directive wheel hinges,
14- directive wheel hinge screws, 15- guiding wheel bodies, 16- directive wheel bearings, 17- guiding wheel sleeves, 18- pair reel hinges,
19- pair coiling wheel bodies, 20- pair reel bearings, 21- pair coiling wheel sleeves, 22- flange bearings, 23- upper joint gag lever posts,
24- supporting point part gag lever posts, 25- tensioning wheel hinges, 26- tensioning wheel hinge screws, 27- tensioning wheel bodies, 28- tension wheel shafts
Hold, 29- tensioning wheel sleeves, the main kinking wheel bodies of 30-, the main winding wheel hinges of 31-, the main kinking wheel bearings of 32-, the main winding wheels of 33-
Copper sheathing, the external fixed blocks of 34-, the external fixed plates of 35-, 36- hinge holes, 37- legs baffle plate, 38- supporting point part jointed shafts, 39-
Through hole is hinged, 40- cambered surface supporting plates, 41- pneumatic means, 42- arm-ties, 43- latch segments, 44- neck bush, 45- springs, 46- is drawn
Plate column, 47- leads, 48- Braces hanged over tow shoulders, 49- brace connecting plates, 50- backs elasticity arm-tie, 51- back fixation plates, 52-
Pull bar, 53- waistbands, 54- wire casings, 55- rope fastening holes, 56- air pumps, 57- hand control valves, 58- 3-position-3-ways pneumatic operated valve with
And 59- collision type pneumatic operated valves.
Embodiment
The utility model is described in further detail with reference to embodiment and accompanying drawing, but implementation of the present utility model
Mode not limited to this.
Embodiment one：
As shown in Fig. 1-7 and Figure 16：A kind of pneumatic ectoskeleton power assisting device, including body wear part, control system and
Two performers 1, two performers are worn part by body and connected, and two performers include hauling rope 2, power
Device 3, rotary joint and wear in the supporting point part 4 on leg, power device 3 includes air pump 56, frame 5 and power gas
Cylinder 6, rotary joint includes upper joint portion 7 and hypozygal portion 8, and the top of upper joint portion 7 is fixedly connected with frame 5, under upper joint portion 7
Portion is hinged with the top of hypozygal portion 8, and directive wheel 9 and secondary reel 10 are provided with upper joint portion 7, and secondary reel is arranged at
Joint portion 7 is with the hinged place in hypozygal portion 8, being provided with tensioning wheel 11 and main winding wheel 12, supporting point part in hypozygal portion 8
4 are fixed on main winding wheel 12, and the two ends of hauling rope 2 are respectively fixed on actuating cylinder 6 and main winding wheel 12, the middle part of hauling rope 2
From top to bottom successively with directive wheel 9, secondary reel 10 and the winding of tensioning wheel 11.
As shown in Figure 8 and Figure 9：It is preferred that, the directive wheel 9 includes directive wheel hinge 13, directive wheel hinge screw 14, led
To wheel body 15, directive wheel bearing 16 and two guiding wheel sleeves 17, two are oriented to wheel sleeve 17 and correspond to directive wheel bearing
The both sides of 16 inner rings are set, and the outer ring of directive wheel bearing 16 is fixed in guiding wheel body 15, and directive wheel hinge 13 sequentially passes through it
In one be oriented to wheel sleeve 17, directive wheel bearing 16 and another guiding wheel sleeve 17 and two ends of directive wheel hinge 13 stretch out in Shang Guan
Section portion 7, directive wheel hinge screw 14, which is lock onto on the screw of the end of directive wheel hinge 13, makes guiding wheel sleeve 17 be directed to wheel shaft
16 are held to be clamped in guiding wheel body 15.
As shown in Figure 8 and Figure 9：It is preferred that, the secondary reel 10 includes secondary reel hinge 18, secondary coiling wheel body
19th, secondary reel bearing 20, two secondary coiling wheel sleeves 21 and two flange bearings 22, the outer ring of two flange bearing 22 is worn respectively
It is connected on the two side of upper joint portion 7, two relative both ends of the surface of secondary coiling wheel sleeve 21 correspond respectively to secondary reel bearing 20
Inner ring both sides set, two other both ends of the surface of secondary coiling wheel sleeve 21 correspond respectively to the setting of the inner ring of two flange bearing 22, secondary
Reel hinge 18 sequentially passes through the secondary coiling wheel sleeve 21 of a flange bearing 22, one, secondary reel bearing 20, another secondary reel
Sleeve 21 and another flange bearing 22 and the secondary two ends of reel hinge 18 stretch out in upper joint portion 7, hypozygal portion 8 is articulated with pair
On reel hinge 18.
As shown in fig. 3 to 7, it is preferred that be additionally provided with hypozygal portion 8 and rotate clockwise scope for limiting upper joint portion 7
Upper joint gag lever post 23 and for limiting the supporting point part gag lever post 24 that supporting point part 4 is rotated counterclockwise, upper joint is spacing
Bar 23 is arranged on the path that upper joint portion 7 is rotated clockwise, and supporting point part gag lever post 24 is arranged at supporting point part 4 and turned counterclockwise
On dynamic path.
As shown in figure 11：It is preferred that, the tensioning wheel 11 includes tensioning wheel hinge 25, tensioning wheel hinge screw 26, tensioning
Wheel body 27, tension wheel shaft bearing 28 and two tensioning wheel sleeves 29, tensioning wheel body 27 is fixed in the outer ring of tension wheel shaft bearing 28
In, the both sides that two tensioning wheel sleeves 29 correspond to the inner ring of tension wheel shaft bearing 28 are set, and the outer ring of tension wheel shaft bearing 28, which is fixed on, opens
In bearing up pulley main body 27, tensioning wheel hinge 25 sequentially passes through a tensioning wheel sleeve 29, tension wheel shaft bearing 28 and another tensioning wheel case
The cylinder 29 and two ends of tensioning wheel hinge 25 stretch out in hypozygal portion 8, tensioning wheel hinge screw 26 lock onto the end of tensioning wheel hinge 25
Screw on make tensioning wheel sleeve 29 by tension wheel shaft bearing 28 be clamped in tensioning wheel body 27 in.
As shown in FIG. 10 and 11：It is preferred that, the main winding wheel include main kinking wheel body 30, main winding wheel hinge 31,
Main kinking wheel bearing 32, main kinking wheel sleeve 33 and external fixture, two main kinking wheel sleeves 33 correspond to main winding wheel
The both sides of the inner ring of bearing 32 are set, and the main outer ring of kinking wheel bearing 32 is fixed in main kinking wheel body 30, main winding wheel hinge 31
Sequentially pass through wherein one main kinking wheel sleeve 33, main kinking wheel bearing 32 and another main kinking wheel sleeve 33 and main winding wheel is cut with scissors
The two ends of axle 31 stretch out in hypozygal portion 8, and external fixture is fixedly connected on main kinking wheel body 30, and supporting point part 4 is fixed on
On external fixture.
As shown in Figure 10 and Figure 11：It is preferred that, the external fixture includes external fixed block 34 and two are external solid
Fixed board 35, two external fixed plates 35 are fixedly connected on the main two sides of kinking wheel body 30, between two external fixed plates 35
Installation cavity is formed, external fixed block 34 is fixedly installed in installation cavity, and hinge hole 36 is longitudinally offered on external fixed block 34；
As shown in Fig. 1-7 and Figure 13 and Figure 16：The supporting point part include leg baffle plate 37, supporting point part articulated section and
Supporting point part jointed shaft 38, supporting point part hinge point longitudinally opens up hinged in the top of leg baffle plate 37, supporting point part articulated section
Hole 39 is connected, supporting point part jointed shaft 38, which is connected to, to be hinged in through hole 39 and hinge hole 36, and the bottom of leg baffle plate 37 is provided with energy
The cambered surface supporting plate 40 being engaged with shape on front side of thigh.
As shown in Fig. 1-7 and Figure 16, it is preferred that described two performers 1 or so are set, and are provided with holding in left side
The secondary reel 10 of row device 1 is arranged at the lower right of directive wheel 9, and tensioning wheel 11 is located at the secondary lower right of reel 10, main winding wheel
12 lower rights in tensioning wheel 11, the hauling rope 2 for being arranged on the performer 1 in left side is stretched into and difference from the top of directive wheel 9
Successively around being set on the lower left quarter of directive wheel 9, the secondary bottom of reel 10 and the upper right quarter of tensioning wheel 11；
As shown in Fig. 1,2,4 and 16：The secondary reel 10 for being arranged on the performer 1 on right side is arranged at the lower-left of directive wheel 9
Side, tensioning wheel 11 is located at the secondary lower left of reel 10, and main winding wheel 12 then in the lower left of tensioning wheel 11, is arranged on holding for left side
The hauling rope 2 of row device 1 is stretched into from the top of directive wheel 9 and respectively successively around being set to the right lower quadrant of directive wheel 9, the secondary bottom of reel 10
And on the upper left quarter of tensioning wheel 11.
As shown in Fig. 1,2,12 and 16：It is preferred that, the actuating cylinder 6 includes pneumatic means 41 and hauling rope tightens up machine
Structure, hauling rope tightening system includes arm-tie 42, latch segment 43, neck bush 44, spring 45, arm-tie column 46 and lead 47,
Pneumatic means 41 and lead 47 are individually fixed in frame 5, and the two ends of arm-tie 42 are connected with lead 47, and hauling rope 2 is from lower past
On through being fixed on latch segment 43 after arm-tie 42, arm-tie column 46, spring 45 and neck bush 44, the top edge of neck bush 44
Be protruding with flange, spring 45 is socketed on arm-tie column 46 and neck bush 44, and the one end of spring 45 is contacted with arm-tie 42, the other end with
Hp contacts, the clutch end of pneumatic means 41 is connected on arm-tie 42, and the pneumatic means 41 is pneumatic muscle.
As shown in Fig. 1-7 and Figure 16：It is preferred that, the body, which wears part, includes Braces hanged over tow shoulders 48, brace connecting plate 49, the back of the body
Portion's elasticity arm-tie 50, arm-tie connecting seat, backboard connecting seat, back fixation plate 51, pull bar 52 and waistband 53, Braces hanged over tow shoulders 48
Two brace bottoms are respectively fixedly connected with the frame 5 of two power devices 3, and two brace tops of Braces hanged over tow shoulders 48 are individually fixed in
On brace connecting plate 49, brace connecting plate 49 is fixed on the elastic top of arm-tie 50 in back, the back elasticity lower hinge of arm-tie 50 in
On back fixation plate 51, arm-tie connecting seat is arranged on the elastic arm-tie 50 in back, and backboard connecting seat is fixed on back fixation plate 51
On, the two ends of pull bar 52 are respectively hinged on arm-tie connecting seat and backboard connecting seat, and back fixation plate 51 is fixed on two power devices 3
Frame 5 on, the both sides of waistband 53 are individually fixed in the hypozygal portion 8 of two performers 1.
As shown in Fig. 3-7, Figure 11, Figure 13, Figure 14 and Figure 15：Open up wired on the main outer circumference surface of kinking wheel body 30
Groove 54, the one end of wire casing 54 offers rope fastening hole 55, and the winding of hauling rope 2 is in wire casing 54 and the end of hauling rope 2 is fixed
In rope fastening hole 55.
As shown in figure 17：It is preferred that, control system includes hand control valve 57,3-position-3-way pneumatic operated valve 58 and collision type
Pneumatic operated valve 59, the air inlet control end and collision type pneumatic operated valve of the gas outlet of hand control valve 57 respectively with 3-position-3-way pneumatic operated valve 58
59 reseting controling end connection, the air inlet of collision type pneumatic operated valve 59 is connected with the outlet control end of 3-position-3-way pneumatic operated valve 58,
The gas outlet of 3-position-3-way pneumatic operated valve 58 is connected with pneumatic muscle, and air pump 56 is pneumatic with hand control valve 57,3-position-3-way respectively
The air inlet connection of valve 58 and collision type pneumatic operated valve 59, collision type pneumatic operated valve 59 is installed on the top of arm-tie 42, and collision type is pneumatic
The contact of valve 59 is in contact with arm-tie 42.
In use, after thigh bends and/or bent over promptly goods, pressing hand control valve button, controlling 3-position-3-way
Pneumatic operated valve connects air pump and pneumatic muscle, pulls arm-tie to rise after pneumatic muscle air inlet and realizes hauling rope take-up, and now, hits
The contact for hitting type pneumatic operated valve rises contraction with arm-tie, and after goods lifts, the contact of collision type pneumatic operated valve is retracted to trigger point, if
Now hand control valve button is still depressed, due to left and right air pressure balance, under the spring effect in 3-position-3-way pneumatic operated valve, and three
Position threeway pneumatic operated valve returns to middle position, and pneumatic muscle not air inlet is not deflated in packing state yet, when release hand control valve button
When, collision type pneumatic operated valve controls 3-position-3-way pneumatic operated valve to connect the exhaust outlet of pneumatic muscle and 3-position-3-way pneumatic operated valve, pneumatic
Tendon is deflated, and arm-tie declines, now due to spring reset, is promoted neck bush to drive latch segment to rise and is tightened up hauling rope, therefore
Hauling rope is remained to keep tensioning, at the same time, and the contact of collision type pneumatic operated valve, which stretches out, to be resetted, and is that next task does standard
It is standby.
If during goods lifts, when hand control valve button is released, because collision type pneumatic operated valve is not triggered, three
Position threeway pneumatic operated valve returns to middle position, and pneumatic muscle not air inlet is not deflated in packing state yet, pneumatic muscle can be prevented unexpected
Deflate, injury is produced to human body, then goods is then continued to lift up when pressing hand control valve button, until erectility.
In addition, collision type pneumatic operated valve can also be installed on below lower pulling plate, contact and the phase of arm-tie 42 of collision type pneumatic operated valve
Connection, and control mode is then contrary to the above, when arm-tie rises, the contact stretching of collision type pneumatic operated valve, when collision type is pneumatic
When the contact of valve is stretched to trigger point, collision type pneumatic operated valve control 3-position-3-way pneumatic operated valve is pneumatic with 3-position-3-way by pneumatic muscle
The exhaust outlet of valve is connected, and pneumatic muscle is deflated, and arm-tie declines, now due to spring reset, promotes neck bush to drive on latch segment
Rise and tighten up hauling rope, therefore hauling rope remains to keep tensioning, at the same time, the contact of collision type pneumatic operated valve, which shrinks, is answered
Position, is that next task is prepared.
The course of work and operation principle of the present utility model：In use, being worn first, two braces point of Braces hanged over tow shoulders
Do not penetrate on both shoulders, by waistband with waist is applied to, while making two cambered surface supporting plates be coupled on front side of thigh, in the middle part of the baffle plate of leg
Then it is located at thigh both sides with top, completes to wear.
After the completion of wearing, people is upright, and now, upper joint portion is in contact with upper joint gag lever post, i.e., upper joint portion is in suitable
On the extreme position of hour hands rotation, and supporting point part is also contacted with supporting point part gag lever post, i.e., supporting point part is in rotation counterclockwise
On the extreme position turned.Such setting, which is advantageous in that, can prevent people from producing hypsokinesis due to heavy burden after upright or falling backward
Situation occurs, and improves security, meanwhile, it is also beneficial to not wear the fixation that fashionable dress puts form, convenient transport.
Lift goods using the utility model and can be performed when putting down goods by following three kinds of modes：
First way, by a small margin during lifting goods：Thigh bending upper body declines and waist is not bent, when thigh is bent,
Two thighs drive upper joint portion to rotate clockwise by two cambered surface supporting plates respectively, and now, the rotation in upper joint portion drives master
Kinking wheel body is rotated clockwise, and main winding wheel body rotation winds hauling rope, and the hauling rope other end is driven interior by latch segment
Bushing is moved down, spring contraction, realizes the unwrapping wire (the hauling rope unwrapping wire limit contacted with arm-tie column for neck bush) of hauling rope, when making
User is grabbed after steady goods, control system control actuating cylinder start, actuating cylinder shrink pull arm-tie rise, when arm-tie column with
When neck bush is contacted, arm-tie column drives neck bush to move up, hauling rope take-up, and the hauling rope other end drives main winding wheel master
Body is rotated counterclockwise, now, and two cambered surface supporting plates are produced to thigh overcomes goods gravity thigh is turned to and body erect
Thrust F1, drives body to rise, so as to reach that auxiliary people lifts the purpose of goods.When thigh and body erect, this practicality is new
Type recovers to original state, i.e. supporting point part to rotate counterclockwise on extreme position to contact with supporting point part gag lever post, prevents branch
Point part rotate counterclockwise excessively causes thigh after upright still by the pressure of supporting point part, the normal walking of influence or thigh
Motion.
The second way, bends over to lift goods：When bending over, leg is kept upright, because leg is not bent, two cambered surfaces
Supporting plate is pressed on thigh, therefore, and main winding wheel does not produce rotation, therefore, and main winding wheel at this moment consolidates one end of hauling rope
Get up calmly, people is when bending over, and both shoulders are by driving back fixation plate so as to drive the frame of two power devices to move forward, i.e.
The frame of two power devices drives upper joint portion to rotate counterclockwise, and now, upper joint portion is rotated around secondary reel hinge, therefore,
Hauling rope is wound on secondary coiling wheel body, (is rotated counterclockwise) when frame is rotated forward, and the other end of hauling rope pulls liner
Set, which is moved down, to be made spring contraction and is wound on the hauling rope length of secondary coiling wheel body to compensate, when waist bending in place and user grabs surely
After goods, control system control actuating cylinder startup, actuating cylinder, which shrinks, pulls arm-tie to rise, when arm-tie column and liner socket
When touching, arm-tie column drives neck bush to be moved up along lead, because two cambered surface supporting plates are pressed on thigh, now main kinking
One end of hauling rope is fixed up by wheel, and therefore, in the case where actuating cylinder is persistently pulled, the other end of hauling rope obtains main winding wheel
The reaction force brought, make gantry rotation and by Braces hanged over tow shoulders to shoulder apply can overcome goods gravity make waist turn to
The pulling force F2 of leg vertical, so that the upper part of the body of body is rotated clockwise and erected, reaches the mesh that auxiliary lifts goods
, when human body recovers upright, upper joint portion is in contact with upper joint gag lever post, i.e., upper joint portion is in the pole turned clockwise
In extreme position, prevent from excessively causing the situation of human body backward to occur because upper joint portion and frame turn clockwise.
The third mode, bends over to lift goods with thigh bending：Because waist and thigh are bent simultaneously, two thighs lead to respectively
Crossing two cambered surface supporting plates drives upper joint portion to rotate clockwise, and main winding wheel body rotation winds hauling rope, simultaneously as waist
In bending, therefore both shoulders are by driving back fixation plate so as to drive the frame of two power devices to move forward, i.e. two dynamic equipments
The frame of part drives upper joint portion to rotate counterclockwise, and now, upper joint portion is rotated around secondary reel hinge, therefore, hauling rope around
On secondary coiling wheel body, (rotated counterclockwise) when frame is rotated forward and combine supporting point part, both pull neck bush simultaneously
Moving down makes spring contraction, and when user's waist and thigh bending are in place and after grab steady goods, control system control actuating cylinder is opened
Dynamic, actuating cylinder, which shrinks, pulls arm-tie to rise, when arm-tie column is contacted with neck bush, and arm-tie column drive neck bush is to moving up
Dynamic, so as to pull hauling rope to rise, now, the hauling rope other end drives main kinking wheel body to rotate counterclockwise, the support of two cambered surfaces
Plate is produced to thigh overcomes goods gravity thigh is turned to the thrust F1 with body erect, drives body to rise, at the same time,
Main winding wheel brings reaction force to the other end of hauling rope, makes gantry rotation and shoulder is applied and can be overcome by Braces hanged over tow shoulders
Goods gravity makes waist turn to the pulling force F2 with leg vertical so that the upper part of the body of body rotate clockwise with leg it is same
When erect, after leg and waist erect, upper joint portion is in contact with upper joint gag lever post, i.e., at upper joint portion
In on the extreme position turned clockwise, and supporting point part is also contacted with supporting point part gag lever post, i.e., supporting point part is in the inverse time
On the extreme position of pin rotation, prevent supporting point part rotate counterclockwise from excessively causing thigh after upright still by supporting point part
Pressure, the normal walking of influence or the normal swing of thigh, are also prevented from excessively causing because upper joint portion and frame turn clockwise
The situation that human body falls backward occurs.
Rotating clockwise in above-mentioned and rotating counterclockwise obtains from right side of the present utility model, if in this practicality
New left sides then obtain opposite steering, are not described further herein.
Above-described embodiment is the utility model preferably embodiment, but embodiment of the present utility model is not by above-mentioned
The limitation of embodiment, it is other it is any without departing from Spirit Essence of the present utility model with made under principle change, modify, replace
Generation, combination, simplification, should be equivalent substitute mode, are included within protection domain of the present utility model.
Claims (10)
1. a kind of pneumatic ectoskeleton power assisting device, it is characterised in that：Part, control system and two actuators are worn including body
Part, two performers by body wear part connect, performer include hauling rope, power device, rotary joint with
And wear in the supporting point part on leg, power device includes air pump, frame and actuating cylinder, and rotary joint includes upper joint
Portion and hypozygal portion, upper joint portion top are fixedly connected with frame, and upper joint subordinate portion is hinged with hypozygal portion top, upper to close
Directive wheel and secondary reel are provided with section portion, secondary reel is arranged on the hinged place in upper joint portion and hypozygal portion, ShiShimonoseki
Tensioning wheel and main winding wheel are provided with section portion, supporting point part is fixed on main winding wheel, and hauling rope two ends are respectively fixed to
On actuating cylinder and main winding wheel, in the middle part of hauling rope from top to bottom successively with directive wheel, secondary reel and tensioning wheel winding；
Control system includes hand control valve, 3-position-3-way pneumatic operated valve and pneumatic for the collision type for controlling actuating cylinder to deflate
Valve, the gas outlet of hand control valve is controlled with the air inlet control end of 3-position-3-way pneumatic operated valve and the reset of collision type pneumatic operated valve respectively
End connection, the air inlet of collision type pneumatic operated valve is connected with the outlet control end of 3-position-3-way pneumatic operated valve, 3-position-3-way pneumatic operated valve
Gas outlet is connected with actuating cylinder, and air pump enters with hand control valve, 3-position-3-way pneumatic operated valve and collision type pneumatic operated valve respectively
Gas port is connected.
2. pneumatic ectoskeleton power assisting device according to claim 1, it is characterised in that：The directive wheel is cut with scissors including directive wheel
Axle, directive wheel hinge screw, guiding wheel body, directive wheel bearing and two guiding wheel sleeves, two are oriented to wheel sleeves correspondence
Set in the both sides of directive wheel bearing inner race, guide wheel shaft bearing outer-ring is fixed in guiding wheel body, and directive wheel hinge is worn successively
Cross a guiding wheel sleeve, directive wheel bearing and another guiding wheel sleeve and directive wheel hinge two ends stretch out in upper joint portion, lead
Directive wheel is clamped in making guiding wheel sleeve be directed to wheel bearing on the screw of directive wheel hinge end to wheel hinge screw lock
In main body.
3. pneumatic ectoskeleton power assisting device according to claim 1 or 2, it is characterised in that：The secondary reel includes pair
Reel hinge, secondary coiling wheel body, secondary reel bearing, two secondary coiling wheel sleeves and two flange bearings, two flanges
Bearing outer ring is connected on upper joint portion two side respectively, two relative both ends of the surface of secondary coiling wheel sleeve correspond respectively to it is secondary around
The inner ring both sides of line wheel bearing are set, and two secondary other both ends of the surface of coiling wheel sleeve correspond respectively to two flange bearing inner rings and set
Put, secondary reel hinge sequentially passes through a flange bearing, a secondary coiling wheel sleeve, secondary reel bearing, another secondary coiling wheel case
Cylinder and another flange bearing and secondary reel hinge two ends stretch out in upper joint portion, hypozygal portion is articulated with secondary reel hinge
On.
4. pneumatic ectoskeleton power assisting device according to claim 1, it is characterised in that：Being additionally provided with hypozygal portion is used for
Limitation upper joint portion rotates clockwise the upper joint gag lever post of scope and for limiting the fulcrum that supporting point part is rotated counterclockwise
Part gag lever post, upper joint gag lever post is arranged on the path that upper joint portion is rotated clockwise, and supporting point part gag lever post is arranged at
On the path that supporting point part is rotated counterclockwise.
5. pneumatic ectoskeleton power assisting device according to claim 1, it is characterised in that：The tensioning wheel is cut with scissors including tensioning wheel
Axle, tensioning wheel hinge screw, tensioning wheel body, tension wheel shaft bearing and two tensioning wheel sleeves, tension wheel shaft bearing outer-ring are fixed
In tensioning wheel body, the both sides that two tensioning wheel sleeves correspond to tension wheel shaft bearing inner ring are set, and tension wheel shaft bearing outer-ring is consolidated
Due in tensioning wheel body, tensioning wheel hinge sequentially passes through a tensioning wheel sleeve, tension wheel shaft bearing and another tensioning wheel sleeve
And tensioning wheel hinge two ends stretch out in hypozygal portion, tensioning wheel hinge screw lock on the screw of tensioning wheel hinge end in making
Tension wheel shaft bearing is clamped in tensioning wheel body by bearing up pulley sleeve.
6. pneumatic ectoskeleton power assisting device according to claim 1 or 5, it is characterised in that：The main winding wheel includes master
Kinking wheel body, main winding wheel hinge, main kinking wheel bearing, main kinking wheel sleeve and external fixture, two main winding wheels
The both sides that sleeve corresponds to main winding wheel bearing inner race are set, and main winding wheel bearing outer ring is fixed in main kinking wheel body, main
Winding wheel hinge sequentially passes through a main kinking wheel sleeve, main kinking wheel bearing and another main kinking wheel sleeve and main winding wheel is cut with scissors
Axle two ends stretch out in hypozygal portion, and external fixture is fixedly connected on main kinking wheel body, and supporting point part is fixed on external solid
Determine on part.
7. pneumatic ectoskeleton power assisting device according to claim 6, it is characterised in that：The external fixture includes external
Fixed block and two external fixed plates, two external fixed plates are fixedly connected on main kinking wheel body two sides, and two outer
Connect and form installation cavity between fixed plate, external fixed block is fixedly installed in installation cavity, longitudinally opens up hinged on external fixed block
Connect hole；
The supporting point part includes leg baffle plate, supporting point part articulated section and supporting point part jointed shaft, supporting point part articulated section
Positioned at leg baffle plate top, supporting point part articulated section, which is longitudinally offered, is hinged through hole, supporting point part jointed shaft be connected to be hinged it is logical
In hole and hinge hole, leg baffle plate bottom is provided with the cambered surface supporting plate that can be engaged with shape on front side of thigh.
8. pneumatic ectoskeleton power assisting device according to claim 1, it is characterised in that：Described two performers or so are set
Put, the secondary reel being provided with the performer in left side is arranged at directive wheel lower right, and it is right that tensioning wheel is located at secondary reel
Lower section, main winding wheel is arranged on the hauling rope of the performer in left side and stretched into above directive wheel then in the lower right of tensioning wheel
And respectively successively around being set on directive wheel lower left quarter, secondary reel bottom and tensioning wheel upper right quarter；
The secondary reel for being arranged on the performer on right side is arranged at directive wheel lower left, and tensioning wheel is located at secondary reel lower-left
Side, main winding wheel is arranged on the hauling rope of the performer in left side and stretched into simultaneously above directive wheel then in the lower left of tensioning wheel
Respectively successively around being set on directive wheel right lower quadrant, secondary reel bottom and tensioning wheel upper left quarter；
Wire casing is offered on the main winding wheel outer circumference surface, the one end of wire casing offers rope fastening hole, hauling rope winding
In wire casing and hauling rope end is fixed in rope fastening hole.
9. pneumatic ectoskeleton power assisting device according to claim 1, it is characterised in that：The actuating cylinder includes pneumatic dress
Put and hauling rope tightening system, hauling rope tightening system includes arm-tie, latch segment, neck bush, spring, arm-tie column and led
Xiang Zhu, pneumatic means and lead are individually fixed in frame, and arm-tie two ends are connected with lead, and hauling rope is passed through from the bottom up
It is fixed on after arm-tie, arm-tie column, spring and neck bush on latch segment, neck bush top edge is protruding with flange, spring housing
It is connected on arm-tie column and neck bush, spring one end is contacted with arm-tie, the other end and Hp contacts, pneumatic means clutch end
It is connected on arm-tie, the contact of collision type pneumatic operated valve is in contact or is connected with arm-tie.
10. pneumatic ectoskeleton power assisting device according to claim 1, it is characterised in that：The body wears part including double
Shoulder braces, brace connecting plate, the elastic arm-tie in back, arm-tie connecting seat, backboard connecting seat, back fixation plate, pull bar and waistband,
Two brace bottoms of Braces hanged over tow shoulders are respectively fixedly connected with the frame of two power devices, and two brace tops of Braces hanged over tow shoulders are distinguished
It is fixed on brace connecting plate, brace connecting plate is fixed on the elastic arm-tie top in back, and back elasticity arm-tie lower hinge is in the back of the body
In portion's fixed plate, arm-tie connecting seat is arranged on the elastic arm-tie in back, and backboard connecting seat is fixed on back fixation plate, pull bar two
End is respectively hinged on arm-tie connecting seat and backboard connecting seat, and back fixation plate is fixed in the frame of two power devices, waistband
Both sides are individually fixed in the hypozygal portion of two performers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621491735.XU CN206416160U (en) | 2016-12-30 | 2016-12-30 | A kind of pneumatic ectoskeleton power assisting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621491735.XU CN206416160U (en) | 2016-12-30 | 2016-12-30 | A kind of pneumatic ectoskeleton power assisting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206416160U true CN206416160U (en) | 2017-08-18 |
Family
ID=59573424
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621491735.XU Withdrawn - After Issue CN206416160U (en) | 2016-12-30 | 2016-12-30 | A kind of pneumatic ectoskeleton power assisting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206416160U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514627A (en) * | 2016-12-30 | 2017-03-22 | 广州市海同机电设备有限公司 | Pneumatic exoskeleton power assisting device |
-
2016
- 2016-12-30 CN CN201621491735.XU patent/CN206416160U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514627A (en) * | 2016-12-30 | 2017-03-22 | 广州市海同机电设备有限公司 | Pneumatic exoskeleton power assisting device |
| CN106514627B (en) * | 2016-12-30 | 2018-12-04 | 广州市海同机电设备有限公司 | A kind of pneumatic ectoskeleton power assisting device |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170818 Effective date of abandoning: 20181204 |
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| AV01 | Patent right actively abandoned |