CN206416161U - A kind of ectoskeleton power assisting device - Google Patents
A kind of ectoskeleton power assisting device Download PDFInfo
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- CN206416161U CN206416161U CN201621491821.0U CN201621491821U CN206416161U CN 206416161 U CN206416161 U CN 206416161U CN 201621491821 U CN201621491821 U CN 201621491821U CN 206416161 U CN206416161 U CN 206416161U
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Abstract
The utility model discloses a kind of 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 part, rotary joint and supporting point part, power part includes frame and actuating cylinder, rotary joint includes upper joint portion and hypozygal portion, and upper joint portion top is fixedly connected with frame, and upper joint subordinate portion is hinged with hypozygal portion top；Control system includes controller, electric Proportion valve, trigger sensor and angular transducer, and electric Proportion valve is connected with actuating cylinder；Trigger sensor is connected with controller；The angular transducer is arranged on rotary joint, and angular transducer is connected with controller；Controller is connected with electric Proportion valve.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 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 ectoskeleton power-assisted dress is provided
Put.
The purpose of this utility model is achieved through the following technical solutions：A kind of ectoskeleton power assisting device, including body are worn
Part, control system and two performers, two performers are worn part by body and connected, and performer includes leading
Straw line, power part, rotary joint and supporting point part, power part include frame and actuating cylinder, and rotary joint includes upper close
Section portion and hypozygal portion, upper joint portion top are fixedly connected with frame, and upper joint subordinate portion is hinged with hypozygal portion top, on
Directive wheel and secondary reel are provided with joint portion, secondary reel is arranged on the hinged place in upper joint portion and hypozygal portion, under
Tensioning wheel and main winding wheel are provided with joint portion, supporting point part is fixed on main winding wheel, and hauling rope two ends are fixed respectively
Onto 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 controller, electric Proportion valve, trigger sensor and angular transducer, and electric Proportion valve is with moving
Strength cylinder is connected；
Trigger sensor is connected with controller, and when trigger sensor is triggered, trigger sensor sends to controller and started
Signal；
The angular transducer is arranged on rotary joint, and angular transducer is connected with controller, for detecting upper joint
Angle change between portion and hypozygal portion and/or between hypozygal portion and supporting point part simultaneously sends the angle-data detected
To controller；
Controller is connected with electric Proportion valve, for controlling electric ratio according to the enabling signal and angle-data that receive
The switch and flow of valve.
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；
Angular transducer includes first angle sensor and second angle sensor, and first angle sensor connects with controller
Connect, for detecting the angle change between upper joint portion and hypozygal portion and sending the angle-data detected to controller；
Second angle sensor is connected with controller, for detecting the angle change between hypozygal portion and supporting point part simultaneously
The angle-data detected is sent to controller；
The electric ratio of angle value sum control that controller is detected according to first angle sensor and second angle sensor
The flow of example valve；
Trigger sensor is myoelectric sensor or displacement transducer, and when trigger sensor is displacement transducer, displacement is passed
Sensor is used to detect the change in displacement of hauling rope and sends displacement data to controller.
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 power parts
Frame on, two brace tops of Braces hanged over tow shoulders are individually fixed on brace connecting plate, brace connecting plate be fixed on back elasticity
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, the back of the body
Plate 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, and back is solid
Fixed board is fixed in the frame of two power parts, 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, each action can be accurately performed during control system work of the present utility model and has easily operated and uses flexible
Advantage.
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, closed on 1- performers, 2- hauling ropes, 3- power parts, 4- supporting point parts, 5- frames, 6- actuating cylinders, 7-
Section 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 screw, 15- is oriented to wheel body, 16- directive wheel bearings, and 17- is oriented to wheel sleeve, 18- pair reel hinges, 19-
Secondary coiling wheel body, 20- pair reel bearings, 21- pair coiling wheel sleeves, 22- flange bearings, 23- upper joint gag lever posts, 24-
Supporting point part gag lever post, 25- tensioning wheel hinges, 26- tensioning wheel hinge screws, 27- tensioning wheel bodies, 28- tension wheel shaft bearings,
29- is tensioned wheel sleeve, the main kinking wheel bodies of 30-, the main winding wheel hinges of 31-, the main kinking wheel bearings of 32-, the main winding wheel copper of 33-
Set, 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- hinges
Connect hole, 40- cambered surface supporting plates, 41- pneumatic means, 42- arm-ties, 43- latch segments, 44- neck bush, 45- springs, 46- arm-ties
Column, 47- leads, 48- Braces hanged over tow shoulders, 49- brace connecting plates, 50- backs elasticity arm-tie, 51- back fixation plates, 52- is drawn
Bar, 53- waistbands, 54- wire casings, 55- rope fastening holes, 56- electric Proportion valves, 57- air pumps and 58- normally closed switch.
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 ectoskeleton power assisting device, including body wearing part, control system and two
Performer 1, two performers by body wear part connect, two performers include hauling rope 2, power part 3,
Rotary joint and wear in the supporting point part 4 on leg, power part 3 includes frame 5 and actuating cylinder 6, rotary joint bag
Upper joint portion 7 and hypozygal portion 8 are included, the top of upper joint portion 7 is fixedly connected with frame 5, the bottom of upper joint portion 7 and hypozygal portion 8
Top is hinged, and directive wheel 9 and secondary reel 10 are provided with upper joint portion 7, and secondary reel is arranged at upper joint portion 7 and ShiShimonoseki
On the hinged place in section portion 8, tensioning wheel 11 and main winding wheel 12 are provided with hypozygal portion 8, supporting point part 4 is fixed on main kinking
On wheel 12, 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 left side
The hauling rope 2 of performer 1 is stretched into from the top of directive wheel 9 and respectively successively around being set under the right lower quadrant of directive wheel 9, secondary reel 10
In portion and 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 is tightened up
Mechanism, 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 under
It is fixed on after up passing through arm-tie 42, arm-tie column 46, spring 45 and neck bush 44 on latch segment 43, the top sides of neck bush 44
Edge is protruding with flange, and 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, another
End and Hp contacts, the clutch end of pneumatic means 41 are 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 parts 3, and two brace tops of Braces hanged over tow shoulders 48 are individually fixed in the back of the body
In strip connecting plate 49, brace connecting plate 49 is fixed on the elastic top of arm-tie 50 in back, and the back elasticity lower hinge of arm-tie 50 is in the back of the body
In portion's fixed 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,
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 the machine of two power parts 3
On frame 5, 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：Offered on the main outer circumference surface of kinking wheel body 30
Wire casing 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 solid
Due in rope fastening hole 55.
As shown in figure 17：It is preferred that, control system includes controller, electric Proportion valve 56, trigger sensor, angle sensor
Device, analog-digital converter, air pump 57, the dc source that electric energy is provided for control system and normal for control that control system switchs
Disconnect and close 58, air pump 57 is connected with electric Proportion valve 56, and electric Proportion valve 56 is connected with pneumatic muscle；Controller is single-chip microcomputer,
It is additionally provided with the computer for being loaded into controlling extent to single-chip microcomputer.
Trigger sensor is connected by analog-digital converter with controller, and when trigger sensor is triggered, trigger sensor leads to
Cross analog-digital converter and send enabling signal to controller；
The angular transducer is arranged on rotary joint, and angular transducer is connected by analog-digital converter with controller,
For detecting the angle change between upper joint portion and hypozygal portion and/or between hypozygal portion and supporting point part and will detect
Angle-data sent by analog-digital converter to controller；
Controller is connected with electric Proportion valve, for controlling electric ratio according to the enabling signal and angle-data that receive
The switch and flow of valve.
Angular transducer includes first angle sensor and second angle sensor, and first angle sensor connects with controller
Connect, for detecting the angle change between upper joint portion and hypozygal portion and sending the angle-data detected to controller；
Second angle sensor is connected with controller, for detecting the angle change between hypozygal portion and supporting point part simultaneously
The angle-data detected is sent to controller；
The electric ratio of angle value sum control that controller is detected according to first angle sensor and second angle sensor
The flow of example valve；
As shown in figure 17：It is preferred that, trigger sensor is myoelectric sensor or displacement transducer, when trigger sensor is position
During displacement sensor, displacement transducer is used to detect the change in displacement of hauling rope and sends displacement data to controller.
It is furthermore preferred that when trigger sensor is displacement transducer, contact and the detection neck bush 44 of displacement transducer
Flange is in contact, due to the effect of spring 45, and neck bush 44 is tightly sticked on latch segment 43 all the time, therefore, is moved in hauling rope 2
When, neck bush 44 up or down can be moved with the movement of hauling rope 2, so displacement transducer is by detecting the position of neck bush 44
Move the displacement data that change can obtain hauling rope.
During work, if trigger sensor is displacement transducer, when thigh bends and/or bends over to lift goods, liner
Set 44 moves down the contact of compression spring 45 and displacement transducer, promptly after goods, and thigh and/or the upper part of the body are moved up, now, detection
Neck bush 44 is moved up in the presence of spring 45, and the contact of displacement transducer is to detect the action that neck bush 44 is moved up,
Then, enabling signal is sent to controller, controller control electric Proportion valve makes air pump and pneumatic muscle connect and to pneumatic flesh
Tendon is supplied, because the hauling rope unwrapping wire limit is that neck bush is contacted with arm-tie column, therefore, and no matter thigh bends delivery of cargo thing, bent over
Delivery of cargo thing or thigh and waist bending delivery of cargo thing, total angle of bend of rotary joint is all fixed, i.e. when upper joint portion is with
When angle of bend between joint portion is larger, the angle of bend scope between hypozygal portion and supporting point part is then reduced, conversely, under
When angle of bend between joint portion and supporting point part is larger, the angle of bend scope between upper joint portion and hypozygal portion then subtracts
It is few, therefore electric ratio can be controlled by the angle value sum detected according to first angle sensor and second angle sensor
The gas supply flow of valve, so that can have faster speed when starting lifting, and can have one when being lifted approximately in place
Slower speed, thus reach avoid produce impact and avoid rise it is too fast and it is unexpected stopping make wearer injury, in addition, also carrying
The high comfortableness worn.
If trigger sensor is myoelectric sensor, to control when myoelectric sensor detects the signal of human hand lifting goods
Device sends enabling signal, and controller control electric Proportion valve makes air pump connect and be supplied to pneumatic muscle with pneumatic muscle, and electric
The angle-data that the flow control of gas proportioning valve is then detected according to angular transducer is controlled, its operation principle and above-mentioned phase
Together, it is not described further herein.
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 do not wearing fashionable dress and put the fixation of 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 parts to move forward, i.e. two
The frame of power part drives upper joint portion to rotate counterclockwise, and now, upper joint portion is rotated around secondary reel hinge, therefore, traction
Rope is wound on secondary coiling wheel body, (is rotated counterclockwise) when frame is rotated forward, and the other end of hauling rope is pulled under neck bush
Moving makes 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 steady goods
Afterwards, control system control actuating cylinder starts, and actuating cylinder, which shrinks, pulls arm-tie to rise, when arm-tie column is contacted with neck bush
When, arm-tie column drives neck bush to be moved up along lead, because two cambered surface supporting plates are pressed on thigh, now main winding wheel
One end of hauling rope is fixed up, therefore, in the case where actuating cylinder is persistently pulled, the other end of hauling rope obtains main winding wheel band
The reaction force come, makes gantry rotation and shoulder, which is applied, by Braces hanged over tow shoulders can overcome goods gravity waist is turned to and leg
The upright pulling force F2 in portion, so that the upper part of the body of body is rotated clockwise and erected, reaches the purpose 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 limit turned clockwise
On 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 parts to move forward, i.e. two power parts
Frame drives upper joint portion to rotate counterclockwise, and now, upper joint portion is rotated around secondary reel hinge, and therefore, hauling rope is wound on pair
On coiling wheel body, (rotated counterclockwise) when frame is rotated forward and combine supporting point part, both pull neck bush to move down simultaneously
Make spring contraction, when user's waist and thigh bending are in place and after grab steady goods, control system control actuating cylinder starts, and moves
Strength cylinder, which shrinks, pulls arm-tie to rise, and when arm-tie column is contacted with neck bush, arm-tie column drives neck bush to move up, from
And pull hauling rope to rise, now, the hauling rope other end drives main kinking wheel body to rotate counterclockwise, and two cambered surface supporting plates are to big
Leg, which is produced, overcomes goods gravity thigh is turned to the thrust F1 with body erect, drives body to rise, at the same time, main kinking
Take turns and bring reaction force to the other end of hauling rope, make gantry rotation and apply shoulder by Braces hanged over tow shoulders that goods weight can be overcome
Power makes waist turn to the pulling force F2 with leg vertical, so that the upper part of the body of body is rotated clockwise with leg while upright
Get up, after leg and waist erect, upper joint portion is in contact with upper joint gag lever post, i.e., upper joint portion is in up time
On the extreme position of pin rotation, and supporting point part is also contacted with supporting point part gag lever post, i.e., supporting point part is in rotate counterclockwise
Extreme position on, prevent supporting point part rotate counterclockwise from excessively causing thigh after upright still by the pressure of supporting point part,
The normal walking of influence or the normal swing of thigh, be also prevented from due to upper joint portion and frame turn clockwise excessively cause human body to
Situation about falling afterwards 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 ectoskeleton power assisting device, it is characterised in that：Part, control system and two performers are worn including body,
Two performers are worn part by body and connected, and performer includes hauling rope, power part, rotary joint and fulcrum
Part, power part include frame and actuating cylinder, rotary joint include upper joint portion and hypozygal portion, upper joint portion top with
Frame is fixedly connected, and upper joint subordinate portion is hinged with hypozygal portion top, and directive wheel and secondary coiling are provided with upper joint portion
Wheel, secondary reel is arranged at upper joint portion and twined with the hinged place in hypozygal portion, being provided with tensioning wheel and master in hypozygal portion
Line wheel, supporting point part is fixed on main winding wheel, and hauling rope two ends are respectively fixed on actuating cylinder and main winding wheel, hauling rope
Middle part from top to bottom successively with directive wheel, secondary reel and tensioning wheel winding；
Control system includes controller, electric Proportion valve, trigger sensor and angular transducer, electric Proportion valve and power gas
Cylinder is connected；
Trigger sensor is connected with controller, and when trigger sensor is triggered, trigger sensor is sent to controller starts letter
Number；
The angular transducer is arranged on rotary joint, and angular transducer is connected with controller, for detect upper joint portion with
Angle change between hypozygal portion and/or between hypozygal portion and supporting point part simultaneously sends the angle-data detected to control
Device processed；
Controller is connected with electric Proportion valve, for according to enabling signal and angle-data the control electric Proportion valve received
Switch and flow.
2. ectoskeleton power assisting device according to claim 1, it is characterised in that：The directive wheel include directive wheel hinge,
Directive wheel hinge screw, guiding wheel body, directive wheel bearing and two guiding wheel sleeves, two guiding wheel sleeves, which correspond to, leads
Set to the both sides of wheel bearing inner ring, guide wheel shaft bearing outer-ring is fixed in guiding wheel body, and directive wheel hinge sequentially passes through one
It is oriented to wheel sleeve, directive wheel bearing and another guiding wheel sleeve and directive wheel hinge two ends stretches out in upper joint portion, directive wheel
Hinge screw lock is clamped in guiding wheel body in making guiding wheel sleeve be directed to wheel bearing on the screw of directive wheel hinge end
In.
3. ectoskeleton power assisting device according to claim 1 or 2, it is characterised in that：The secondary reel includes secondary coiling
Take turns hinge, secondary coiling wheel body, secondary reel bearing, two secondary coiling wheel sleeves and two flange bearings, two flange bearings
Outer ring is connected on upper joint portion two side respectively, and two relative both ends of the surface of secondary coiling wheel sleeve correspond respectively to secondary reel
The inner ring both sides of bearing are set, and two secondary other both ends of the surface of coiling wheel sleeve correspond respectively to the setting of two flange bearing inner rings, secondary
Reel hinge sequentially pass through a flange bearing, a secondary coiling wheel sleeve, secondary reel bearing, another secondary coiling wheel sleeve and
Another flange bearing and secondary reel hinge two ends stretch out in upper joint portion, hypozygal portion is articulated with secondary reel hinge.
4. ectoskeleton power assisting device according to claim 1, it is characterised in that：It is additionally provided with hypozygal portion for limiting
Upper joint portion rotates clockwise the upper joint gag lever post of scope and for limiting the supporting point part that supporting point part is rotated counterclockwise
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 fulcrum
On the path that part is rotated counterclockwise.
5. ectoskeleton power assisting device according to claim 1, it is characterised in that：The tensioning wheel include 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 opened
In bearing up pulley main 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 fixed on
It is tensioned in wheel body, tensioning wheel hinge sequentially passes through a tensioning wheel sleeve, tension wheel shaft bearing and another tensioning wheel sleeve and opened
Bearing up pulley hinge two ends stretch out in hypozygal portion, and tensioning wheel hinge screw lock on the screw of tensioning wheel hinge end in making tensioning wheel
Tension wheel shaft bearing is clamped in tensioning wheel body by sleeve.
6. ectoskeleton power assisting device according to claim 1 or 5, it is characterised in 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, two main kinking wheel sleeves
Set corresponding to the both sides of main winding wheel bearing inner race, main winding wheel bearing outer ring is fixed in main kinking wheel body, main kinking
Wheel hinge sequentially passes through a main kinking wheel sleeve, main kinking wheel bearing and another main kinking wheel sleeve and main winding wheel hinge two
End stretches out in hypozygal portion, and external fixture is fixedly connected on main kinking wheel body, and supporting point part is fixed on external fixture
On.
7. ectoskeleton power assisting device according to claim 6, it is characterised in that：The external fixture includes external fixation
Block and two external fixed plates, two external fixed plates are fixedly connected on main kinking wheel body two sides, and two external solid
Installation cavity is formed between fixed board, external fixed block is fixedly installed in installation cavity, and 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 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. ectoskeleton power assisting device according to claim 1, it is characterised in that：Described two performers or so are set,
The secondary reel being provided with the performer in left side is arranged at directive wheel lower right, and tensioning wheel is located at secondary reel bottom right
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 right of tensioning wheel
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. ectoskeleton power assisting device according to claim 1, it is characterised in that：The actuating cylinder include pneumatic means with
And hauling rope tightening system, hauling rope tightening system include arm-tie, latch segment, neck bush, spring, arm-tie column and guiding
Post, pneumatic means and lead are individually fixed in frame, and arm-tie two ends are connected with lead, and hauling rope is from the bottom up through drawing
It is fixed on after plate, arm-tie column, spring and neck bush on latch segment, neck bush top edge is protruding with flange, spring socket
In on arm-tie column and neck bush, spring one end is contacted with arm-tie, the other end and Hp contacts, and pneumatic means clutch end connects
It is connected on arm-tie；
Angular transducer includes first angle sensor and second angle sensor, and first angle sensor is connected with controller,
For detecting the angle change between upper joint portion and hypozygal portion and sending the angle-data detected to controller；
Second angle sensor is connected with controller, for detecting the angle change between hypozygal portion and supporting point part and will examine
The angle-data measured is sent to controller；
The angle value sum that controller is detected according to first angle sensor and second angle sensor controls electric Proportion valve
Flow；
Trigger sensor is myoelectric sensor or displacement transducer, when trigger sensor is displacement transducer, displacement transducer
For detecting the change in displacement of hauling rope and sending displacement data to controller.
10. ectoskeleton power assisting device according to claim 1, it is characterised in that：The body is worn part and carried on the back including both shoulders
Band, brace connecting plate, the elastic arm-tie in back, arm-tie connecting seat, backboard connecting seat, back fixation plate, pull bar and waistband, both shoulders
Two brace bottoms of brace are respectively fixedly connected with the frame of two power parts, and two brace tops of Braces hanged over tow shoulders are individually fixed in
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 back fixation
On 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 ends difference
It is hinged on arm-tie connecting seat and backboard connecting seat, back fixation plate is fixed in the frame of two power parts, waistband both sides difference
It is fixed in the hypozygal portion of two performers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621491821.0U CN206416161U (en) | 2016-12-30 | 2016-12-30 | A kind of ectoskeleton power assisting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621491821.0U CN206416161U (en) | 2016-12-30 | 2016-12-30 | A kind of ectoskeleton power assisting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206416161U true CN206416161U (en) | 2017-08-18 |
Family
ID=59573555
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621491821.0U Expired - Fee Related CN206416161U (en) | 2016-12-30 | 2016-12-30 | A kind of ectoskeleton power assisting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206416161U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737590A (en) * | 2016-12-30 | 2017-05-31 | 华南理工大学 | A kind of ectoskeleton power assisting device |
| CN110934722A (en) * | 2019-12-05 | 2020-03-31 | 苏州市职业大学 | Rope-pulling type unpowered power-assisted walking device |
-
2016
- 2016-12-30 CN CN201621491821.0U patent/CN206416161U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737590A (en) * | 2016-12-30 | 2017-05-31 | 华南理工大学 | A kind of ectoskeleton power assisting device |
| CN106737590B (en) * | 2016-12-30 | 2023-09-26 | 华南理工大学 | Exoskeleton power assisting device |
| CN110934722A (en) * | 2019-12-05 | 2020-03-31 | 苏州市职业大学 | Rope-pulling type unpowered power-assisted walking device |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170818 Termination date: 20191230 |
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| CF01 | Termination of patent right due to non-payment of annual fee |