CN206840064U - The passive automatic return to neutral mechanism of hip joint and exoskeleton robot - Google Patents
The passive automatic return to neutral mechanism of hip joint and exoskeleton robot Download PDFInfo
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- CN206840064U CN206840064U CN201720412904.4U CN201720412904U CN206840064U CN 206840064 U CN206840064 U CN 206840064U CN 201720412904 U CN201720412904 U CN 201720412904U CN 206840064 U CN206840064 U CN 206840064U
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- thigh support
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Abstract
The utility model discloses a kind of passive automatic return to neutral mechanism of hip joint and exoskeleton robot,The automatic return to neutral mechanism of passive hip joint includes receiving outer extending apparatus or an outer cyclone of inward turning or the combination of the two in one,The waist structure of exoskeleton robot is connected with the outer cyclone of inward turning,Leg structure is connected with the outer extending apparatus of interior receipts,The outer extending apparatus of interior receipts is provided with the leg elastic device formed with flexible member,The outer cyclone of inward turning is also equipped with the waist elasticity device with flexible member composition,Utilize the elastic working principle of flexible member,Function in being returned automatically to thigh support frame and waist support bracket progress one,In being carried out back without active mode driving leg support frame and waist support bracket,More save electric energy,And when human body is dressed,Restoring force as exoskeleton robot is given without human body,The automatic balance for keeping human body,It is put on more comfortable,And it is more comfortable to take action,The free degree and simulated effect are more preferable,It is more beneficial for rehabilitation exercise.
Description
Technical field
It the utility model is related to robotic technology field, more particularly to a kind of exoskeleton robot with return to neutral mechanism
Hip joint structure and exoskeleton robot.
Background technology
Exoskeleton robot（Exoskeleton Robot）Refer to be enclosed on the robot outside human body, it is alternatively referred to as " wearable
Robot ", exoskeleton robot technology is to have merged sensing, control, information technology, mobile computing, and wearable structure
Complex art.
As the exoskeleton robot of human body lower limbs power-assisted, the design of hip joint is a very important link, now
The hip joint design of exoskeleton robot be to be directly driven using motor direct-drive or hydraulic cylinder mostly, such a method is
Active drive mode, the volume and weight of exoskeleton robot can be increased, can also cause more unnecessary actings, range of movement
Also it is limited.In the prior art, also there are some exoskeleton robots to use passive matrix, or exoskeleton robot hip joint by
One active degree-of-freedom joint（It is anteflexion, after stretch）With two passive freedom degree joints（Interior receipts, abduction and inward turning, outward turning）Form.
The wherein existing passive hip joint of exoskeleton robot two is all acted on without restoring force, and exoskeleton robot is walked in wearing
During, the passive freedom degree of hip needs to provide active force to help human body to realize balance, there is provided the power of balance is mainly come
From in human body, it can so increase the consumption of human body physical agility, so as to increase the burden of human body, influence locomitivity.
Utility model content
For weak point present in above-mentioned technology, the utility model provides a kind of passive hip joint automatic return to neutral mechanism
And exoskeleton robot, when human body is worn by the exoskeleton robot with the passive automatic return to neutral mechanism of hip joint, human body
Moved with exoskeleton robot, its hip joint part can automatically revert to neutral position, greatly save the power of human body application, mitigate
The body burden of human body, it is more beneficial for the rehabilitation of human body.
To achieve the above object, the utility model discloses a kind of automatic return to neutral mechanism of passive hip joint, including is received in one
Outer extending apparatus, the outer extending apparatus of the interior receipts include thigh support frame and leg elastic device, the thigh support frame and leg bullet
Property device contact connection, the thigh support frame be connected with leg structure, and with the motor connection of control leg exercise, motor drive
Dynamic leg structure moves forwards or backwards, and the human body acted on leg structure tilts in motion, drives thigh support
Frame extrudes leg elastic to the left or to the right, terminates when human body acts on the power moved to the left or to the right on leg structure, leg
The power of the leftward or rightward motion of support frame weakens or disappeared, and the restoring force driving leg support frame of leg elastic device is returned to
Neutral position.
Wherein, the leg elastic device includes the first leaf spring, the second leaf spring, connecting plate and leaf spring briquetting, the first leaf spring
It is set up in parallel with the second leaf spring, and upper end is respectively engaged with leaf spring and covered, and pressed and fixed by connecting plate, first leaf spring
Support is connected by leaf spring briquetting with the middle part of the second leaf spring, the first leaf spring and the second leaf spring touch with thigh support bridge joint respectively to be connected
Connect, leg structure is travelled forward, and the lower end of thigh support frame is swung to the left, and the upper end of thigh support frame contacts simultaneously with the first leaf spring
The first leaf spring is compressed, when thigh support frame lower end is weakened or disappeared to the power of left movement, the first leaf spring recovers deformation, the first plate
The restoring force of spring acts on thigh support frame, and thigh support frame is returned to neutral position, and leg structure moves backward, thigh support
Frame lower end moves right, thigh support frame contacts with the second leaf spring and compresses the second leaf spring, when thigh support frame lower end to the right
When power weakens or disappeared, the second leaf spring replys deformation, and restoring force acts on thigh support frame, and thigh support frame is returned to neutral position
Put.
Wherein, first leaf spring is provided with two, respectively positioned at the right and left of the second leaf spring, two the first leaf springs with
Second leaf spring is also secured to leaf spring and covered, and thigh support frame lower end extrudes a left side simultaneously to left movement, the upper end of thigh support frame
First leaf spring at right both ends, and extruding force is averagely decomposed on two piece of first leaf spring.
Wherein, the first cushion block, the thigh support frame are provided with the contact surface of the thigh support frame and the first leaf spring
With being provided with the second cushion block on the second leaf spring contact surface, thigh support frame lower end passes through to left movement, thigh support frame upper end
One cushion block extrudes the first leaf spring, and the thigh support frame lower end moves right, and thigh support frame extrudes second by the second cushion block
Leaf spring.
Wherein, the upper end of the thigh support frame is provided with cylinder pivot structure, and thigh support frame is divided into
End and lower end, first cushion block are arranged on the upper end of cylinder pivot structure, and second cushion block is arranged on pivot structure
Lower end, when thigh support frame lower end is leftward or rightward, respectively using cylinder pivot structure as axle swing, thigh support frame lower end to
A left side, the first cushion block positioned at thigh support frame upper end contact with the first leaf spring and extrude the first leaf spring deformation, the second cushion block and
Two leaf springs are remote, and thigh support frame lower end is to the right, remote positioned at the first cushion block of thigh support frame upper end and the first leaf spring, is located at
Second cushion block of thigh support frame lower end contacts with the second leaf spring and extrudes the second leaf spring deformation, the lower end of the thigh support frame
For suspension ring structure, installation settings has a motor of driving leg structure motion in suspension ring structure, motor control leg structure advance or
Retreat.
The utility model discloses a kind of automatic return to neutral mechanism of passive hip joint, including cyclone outside an inward turning, described interior
The outer cyclone of rotation includes waist support bracket and waist elasticity device, and the waist support bracket is connected solid with exoskeleton robot waist
Fixed, the waist elasticity device is fixed on securing cover plate, and when human body is acted on leg structure, and leg exercise drives waist
During construction torsion, waist support bracket follows waist structure to reverse together, waist support bracket extruding waist elasticity device, lumbar support
When the power of the rotation outwardly or inwardly of frame weakens or disappeared, waist elasticity power driving waist support bracket is returned to neutral position.
Wherein, the waist elasticity device includes the 3rd leaf spring and flat spring bracket, and the 3rd leaf spring is laterally disposed, and the
The both ends of three leaf springs are fixed on flat spring bracket, and the 3rd pad is provided with the contact surface of the waist support bracket and the 3rd leaf spring
Block, when waist support bracket outwardly or inwardly rotates, waist support bracket extrudes the 3rd leaf spring by the 3rd cushion block to the left or to the right.
Wherein, the waist elasticity device includes flat spring bracket, left spring, right spring, left spring fixed column and right spring
Fixed column, left spring fixed column and right spring fixed column are respectively symmetrically fixed on waist support bracket, the left spring and right bullet
Spring is fixed between waist support bracket and flat spring bracket by fixed column respectively, and waist support bracket stretches right spring to internal rotation,
Waist support bracket outwards rotates, and stretches left spring.
Wherein, rotating shaft is provided with the waist support bracket, rotating shaft houses logical through the accommodating through hole on waist support bracket
The position that the upper and lower ends in hole are connected with rotating shaft is provided with the thrust bearing for bearing the axial force that leg structure conduction comes up.
The utility model is also disclosed a kind of exoskeleton robot, including above-mentioned introduction have respectively outside interior receipts extending apparatus or
The outer cyclone of person's inward turning, or it is provided simultaneously with the outer extending apparatus of interior receipts and the automatic Hui Zhongji of passive hip joint of the outer cyclone of inward turning
Structure, in addition, in addition to leg structure and waist structure, one end connection waist knot of the passive automatic return to neutral mechanism of hip joint
Structure, other end connected legs structure, waist structure is symmetrical, and the left and right ends of waist structure connect a passive hip and closed respectively
Automatic return to neutral mechanism is saved, each passive automatic return to neutral mechanism of hip joint is connected with a leg structure, and exoskeleton robot leads to
Wearing mode is crossed to be fixed on human body.
The beneficial effects of the utility model are：
Compared with prior art, a kind of passive automatic return to neutral mechanism of hip joint and ectoskeleton machine disclosed in the utility model
People, the passive automatic return to neutral mechanism of hip joint include receiving outer extending apparatus either an outer cyclone of inward turning or the knot of the two in one
Close, wherein, the outer extending apparatus of interior receipts is connected with leg structure, and the outer extending apparatus of interior receipts includes leg connection support frame and leg elastic
Device, the motor driving leg of leg is advanced, when human body is worn by the exoskeleton robot, due to the spy of human body itself walking
Point, when human leg travels forward, hip joint can also be swung therewith, and human hip extrudes the leg branch in automatic return to neutral mechanism
Support, so that the leg elastic device on thigh support frame is squeezed, when thigh support frame extruding leg elastic device
After power weakens or disappeared, the restoring force of leg elastic device acts on thigh support frame, and thigh support frame is returned to neutral position
Put.The outer cyclone of inward turning includes waist support bracket and waist elasticity device, waist support bracket are connected with waist, make waist inside or
Outwards during rotation twisting, waist support bracket extruding waist elasticity device, after the power on waist support bracket weakens or disappears, waist
Restoring force on portion's elastic device acts on waist support bracket, and waist support bracket is returned to neutral position, the letter of whole device structure
Single, operation principle is simple, is elastic leaf spring or spring in elastic device, the elastic force using leaf spring or spring makes
Waist support bracket or thigh support frame are returned to neutral position, and the effect without external force is replied, and saves electric energy
Or the support force of human body, when using exoskeleton robot made of the automatic return to neutral mechanism of this passive hip joint, in leg knot
Structure advance or fallback procedures in, along with thigh support frame leftward or rightward motion and automatically reply, waist support bracket
Inward turning or outward turning and automatically reply, make simulated effect more preferable, make user more laborsaving in use, take action lighter
Pine, the free degree is more preferable, more conducively the walking rehabilitation of inconvenient walking client.
Brief description of the drawings
Fig. 1 is the utility model exoskeleton robot structural representation；
Fig. 2 is the passive hip joint overall structure diagram of the utility model embodiment；
Fig. 3 is the passive hip joint explosive view of the utility model embodiment；
Fig. 4 is that outer extending apparatus positive stereoscopic diagram is received in the utility model embodiment；
Fig. 5 is that outer extending apparatus back side dimensional structure diagram is received in the utility model embodiment；
Fig. 6 is the utility model embodiment securing cover plate and leaf spring and connecting plate connection diagram；
Fig. 7 is the utility model embodiment thigh support frame structural representation；
Fig. 8 is the outer cyclone first embodiment combination machine composition of the utility model inward turning；
Fig. 9 is the outer cyclone first embodiment explosive view of the utility model inward turning；
Figure 10 is the outer cyclone second embodiment combination machine composition of the utility model inward turning；
Figure 11 is the outer cyclone second embodiment explosive view of the utility model inward turning.
Main element explanation：
10th, the automatic return to neutral mechanism 20 of passive hip joint, waist structure
30th, leg structure
11st, the outer extending apparatus 12 of interior receipts, the outer cyclone of inward turning
13rd, securing cover plate 14, leaf spring lid
111st, thigh support frame 112, leg elastic device
121st, waist support bracket 122, waist elasticity device
123rd, the 3rd cushion block 124, rotating shaft
125th, thrust bearing 126, spring
127th, spring fixed column
1111st, suspension ring structure 1112, pivot structure
1121st, the first leaf spring 1122, the second leaf spring
1123rd, connecting plate 1124, leaf spring briquetting
1131st, the first cushion block 1132, the second cushion block
1211st, through hole 1221, the 3rd leaf spring are housed
1222nd, flat spring bracket.
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the utility model is further elaborated, it will be appreciated that specific embodiment described herein is only explaining
The utility model, it is not used to limit the utility model.
It should be noted that when element is referred to as " being fixed on " or " being arranged at " another element, it can directly or
It is connected on another element.When an element is known as " being connected to " another element, it can be direct or indirect connection
To another element.
It should also be noted that, inferior orientation term on left and right in the utility model embodiment, is only relatively general each other
Read or using the normal operating condition of product as reference, and should not be regarded as restrictive.
Referring to Fig. 1, the utility model embodiment is directed to deficiency of the prior art, a kind of passive hip joint is disclosed certainly
Dynamic return to neutral mechanism 10 and the exoskeleton robot with the passive automatic return to neutral mechanism 10 of hip joint, please in conjunction with Fig. 2 and figure
3, to be provided simultaneously with the ectoskeleton machine of the automatic return to neutral mechanism of passive hip joint of cyclone 12 outside extending apparatus 11 and inward turning outside interior receipts
Exemplified by device people's structure, elastic device is both provided with the outer extending apparatus 11 of interior receipts and the outer cyclone 12 of inward turning, is allowed in motion
When, because having extruded elastic device, so that elastic device can automatically reply, without being returned to neutrality by external force driving
Position.When cyclone 12 applies to exoskeleton robot outside extending apparatus 11 outside this interior receipts and inward turning, it is well suited for being applied to hip pass
Position is saved, allows the outer extending apparatus 11 of interior receipts to be connected with the leg structure 30 of exoskeleton robot, and the outer cyclone 12 of inward turning and dermoskeleton
The waist structure 20 of bone robot connects, and can so realize exoskeleton robot when leg is advanced or is retreated, hip closes
Nodule structure can automatically revert to neutral position, moreover it is possible to make leg structure 30 in advance or retrogressing, driven because of human motion
The torsion of waist location can be returned to neutral position, make the simulation quality of exoskeleton robot higher, add ectoskeleton machine
The free degree of people, it is more light and handy when being worn on client except realizing that straight line moving also realizes free turning, comfortably.
In the present embodiment, the waist support bracket 121 in the automatic return to neutral mechanism 10 of passive hip joint connects with waist structure 20
Connect, the suspension ring structure 1111 on thigh support frame 111 is connected with leg structure 30, a driving is fixed in suspension ring structure 1111
Motor（It is not shown）, when human body is worn by exoskeleton robot, and motor control leg structure 30 moves forwards or backwards
When, drive thigh support frame 111 to swing to the left or to the right, the leg elastic device 112 being connected with thigh support frame 111 is returned
Multiple motion, reach the purpose in automatic time.Same leg structure 30 travel forward can drive waist structure 20 do together inward turning or
Person's outward turning acts, and just exoskeleton robot can be made to step out a step forward or backward, the waist bullet being connected with waist support bracket 111
Property device 122 automatically return in, considerably increase exoskeleton robot motion when simulation quality and fluency, due to ectoskeleton machine
People imitates human body completely, therefore waist structure 20 is arranged to bilateral symmetry, and leg structure 30 has two, passes through left and right two respectively
The individual passive automatic return to neutral mechanism 10 of hip joint links together with waist structure 20, realize imitate human body posture on foot, it is necessary to
Illustrate, motor control leg structure 30 moves forwards or backwards, and drives thigh support frame 111 to swing to the left or to the right
Prerequisite, be when human body is worn by the exoskeleton robot with the passive automatic return to neutral mechanism 10 of hip joint,
When only motor control leg structure 30 advances or retreated, thigh support frame 111 and waist in automatic return to neutral mechanism
Portion's support frame 121 will not rock or occur interior outward turning, and only human body is worn by exoskeleton robot, and motor control leg
When portion's structure 30 moves forward and backward, the people's leg being worn on exoskeleton robot also follows exoskeleton robot to move together, due to
When human body itself advances or retreated, the hip joint meeting rotary oscillation of human body itself, in driving exoskeleton robot to return automatically
Leg elastic device 112 and waist elasticity device 122 in mechanism are squeezed, in leg elastic device 112 and waist elasticity
In the presence of elastic construction inside device 122, leg elastic device 112 and waist elasticity device 122 automatically revert to neutrality
Position, so that exoskeleton robot can preferably coordinate human motion, dress wearer more comfortable when motion.
The concrete structure and operation principle of the automatic return to neutral mechanism 10 of passive hip joint introduced below, are related to leg elastic
The power of device 112 and the compressional deformation of waist elasticity device 122, it is people after human body is worn by exoskeleton robot to be all defaulted as
Body leg follow the leg structure 30 of exoskeleton robot advance or retreat extruding leg elastic device 112 and waist elasticity dress
Put 122.
In the present embodiment, Fig. 3 and Fig. 4 are referred to, the outer extending apparatus 11 of interior receipts includes thigh support frame 111 and leg elastic
Device 112, thigh support frame 111 contact connection with leg elastic device 112, in the present embodiment, thigh support frame 111 with turn
Axle construction 1112 is rotated for axle, and top and bottom are divided centered on pivot structure 1112, and the lower end of thigh support frame 111 is set
Suspension ring structure 1111 is set to, suspension ring structure 1111 is connected with leg structure 30, and the motor that control leg structure 30 moves is contained in
In suspension ring structure 1111, driving leg structure 30 move forward or backward, so as to drive thigh support frame 111 to the left or to
Turn right dynamic.Referring to Fig. 4, in the present embodiment, the upper end of thigh support frame 111 is provided with the pivot structure 1112 of cylinder,
Thigh support frame 111 advances or retreated to be swung with the pivot structure 1112 for axle, and progressively levels off to leg elastic device 112,
Wherein, when leg structure 30 advances, the lower end of thigh support frame 111 moves right to left movement, upper end, now, leg
The upper end of support frame 111 is close and extrudes leg elastic device 112, and lower end is away from leg elastic device 112, behind leg structure 30
When moving back, the upper end of thigh support frame 111 moves right to left movement, lower end, and now, the upper end of thigh support frame 111 is remote
From leg elastic device 112, lower end is close and extrudes leg elastic device 112.
Further referring to Fig. 4-Fig. 7, in the present embodiment, leg elastic device 112 includes the first leaf spring 1121, second
Leaf spring 1122, connecting plate 1123, leaf spring briquetting 1124 and leaf spring lid 14, in the present embodiment, the first leaf spring 1121 are provided with two
Block, respectively the first leaf spring 1121A of a left side, the first leaf spring 1121B of the right side, two the first leaf springs 1121 are disposed in parallel in the second plate respectively
The right and left of spring 1122, referring to Fig. 6, the first leaf spring 1121A of a left side, the first leaf spring 1121B of the right side and the second leaf spring 1122 is upper
End be clamped on the storage tank 141 on leaf spring lid 14, by connecting plate 1123 pressing be connected, first leaf spring 1121A of left side with
The first leaf spring 1121B of the right side is connected and fixed on leaf spring lid 14 further through leaf spring briquetting 1124, the first leaf spring 1121A of a left side, and right the
The lower end of one leaf spring 1121B and the second leaf spring 1122 is freely hanging to be set, and is contacted with the upper end position of thigh support frame 111,
Wherein, referring to Fig. 7, being symmetrically set with two pieces the on thigh support frame 111 and positioned at the upper end of pivot structure 1112
One cushion block 1131, position correspond to the first leaf spring 1121A of a left side and the first leaf spring 1121B of the right side respectively, and under pivot structure 1112
Centre position is held, is provided with the second cushion block 1132, the position of the second cushion block 1132 just corresponds to the second leaf spring 1122, when leg is tied
When structure 30 advances, a left side the first cushion block 1131A of the upper end of thigh support frame 111 is close and extrudes the first leaf spring 1121A of a left side, the right side first
Cushion block 1131B is close and extrudes the first leaf spring 1121B of the right side, and the second cushion block 1132 of lower end works as leg away from the second leaf spring 1122
Portion's support frame 111 extrude the first leaf spring 1121 power weaken to a certain extent, or disappear when, the first leaf spring 1121A of a left side and
The first cushion block 1131A of a left side and the first cushion block 1131B of right side power extruded is replied to leg branch by the first leaf spring 1121B of the right side again respectively
Support 111, thigh support frame 111 automatically revert to neutral position.When leg structure 30 retreats, thigh support frame 111
Lower end is moved right, and now a left side the first cushion block 1131A of the upper end of thigh support frame 111 and the first cushion block 1131B of the right side is respectively further from
The first leaf spring 1121A of a left side and the first leaf spring 1121B of the right side, 1132 close and the second leaf spring 1122 of extruding of the second cushion block of lower end, and
When the lower end of thigh support frame 111, power to the right weakens to a certain extent, or during disappearance, the second pad on thigh support frame 111
The power that block 1132 extrudes the second leaf spring 1122 replies to thigh support frame 111 again, and thigh support frame 111 automatically reverts to neutral position
Put.State during passive hip joint returns automatically is reached with this.It is wherein the one of leg elastic device 112 of the present utility model above
Kind structure, in the present embodiment, the first leaf spring 1121 is provided with two, respectively positioned at the both ends of the second leaf spring 1122, but
One the first leaf spring 1121 and second leaf spring 1122 can be only set, it is only necessary to two leaf springs are set up in parallel, it is right
The first cushion block 1131 answered is also provided with one, and position is corresponding with the first leaf spring 1121.In the utility model, leg elastic
Device 112 be also not limited to it is above-mentioned both, it is every by elastic construction, entered using design of the present utility model and operation principle
Capable return to neutral mechanism both falls within the scope of protection of the utility model.
Fig. 8-Fig. 9 is referred to, in the present embodiment, the outer cyclone 12 of inward turning includes waist support bracket 121 and waist elasticity
Device 122, the waist structure 20 of waist support bracket 121 and exoskeleton robot are connected, and waist elasticity device 122 is fixed on
On securing cover plate 13, leg structure 30 can drive waist twisting when moving, and now waist support bracket 121 follows waist to turn round together
Turn, waist support bracket 121 extrudes waist elasticity device 122, and in the present embodiment, waist elasticity device 122 includes the 3rd leaf spring
1221 and flat spring bracket 1222, the 3rd leaf spring 1221 be placed across on flat spring bracket 1222, and both ends of the 3rd leaf spring 1221
It is connected with flat spring bracket 1222, the 3rd cushion block 123, the 3rd leaf spring 1221 and is additionally provided with waist support bracket 121
The contact connection of three cushion blocks 123, in the present embodiment, when waist support bracket 121 is to internal rotation, the left end of the 3rd cushion block 123 squeezes
Press the 3rd leaf spring 1221, the left side crimp of the 3rd leaf spring 1221, when the extruding force on waist support bracket 121 weakens or disappears
When mistake, the left side of the 3rd leaf spring 1221 reacts on restoring force waist support bracket 121 again, and waist support bracket 121 is replied
To neutral position, equally, when waist support bracket 121 outwards rotates, the right-hand member of the 3rd cushion block 123 extrudes the 3rd leaf spring 1221
Right-hand member, the right-hand member crimp of the 3rd leaf spring 1221, when the extruding force on waist support bracket 121 weakens or disappears,
The right of 3rd leaf spring 1221 reacts on restoring force waist support bracket 121 again, and waist support bracket 121 is returned to neutral position
Put, time middle purpose of cyclone 12 outside inward turning is reached with this.
Figure 10-Figure 11 is referred to, in the present embodiment, waist elasticity device 122 is not limited to above-mentioned 3rd cushion block 123 and pressed
Contract the structure of the 3rd leaf spring 1221, the structure connected by spring 126 and spring fixed column 127 is can also be, in the present embodiment
In, waist elasticity device includes flat spring bracket 1222, left spring 126A, right spring 126B, left spring fixed column 127A and right bullet
Spring fixed column 127B, in the present embodiment, left spring fixed column 127A are provided with two, and one is vertically fixed in waist support bracket
On 121, another fixed lateral is fixed on inside flat spring bracket 1222, and left spring 126A both ends connect two left bullets respectively
Spring fixed column 127A, equally, in accommodating left spring fixed column 127A symmetric position, it is also equipped with two right spring fixed columns
127B, and a vertical direction are fixed on waist support bracket 121, and another is secured transverse on flat spring bracket 1222, this
Sample, when waist support bracket 121 is to when outward turning, right spring 126B is squeezed, when outer spin weakens or disappears, right bullet
Spring 126B recovers deformation, and elastic force is reacted on waist support bracket 121, and waist support bracket 121 is returned to neutral position, when
When waist support bracket 121 is to inward turning, left spring 126A is squeezed, when interior spin weakens or disappears, left spring
126A recovers deformation, elastic force is reacted on waist support bracket 121, waist support bracket 121 is returned to neutral position.More than
It is two kind structures of the utility model on waist elasticity device 122, but elastic device of the present utility model is not limited to
Both structures, it is every carried out back by elastic deformation in structure each fall within the scope of protection of the utility model.
Fig. 9 and Figure 11 are referred to, in the present embodiment, rotating shaft 124 is provided with waist support bracket 121, rotating shaft 124 passes through
121 accommodating through hole 1211 on waist support bracket, the upper and lower ends of accommodating through hole 1211, which are provided with, bears leg structure 30 and conducts
The thrust bearing 125 for the axial force come up, when waist support bracket 121 inwardly and outwardly rotates, pass through thrust bearing
125 it is rotationally constrained, control the angle of rotation, in order to avoid the anglec of rotation of waist support bracket 121 is excessive, destroy the 3rd leaf spring 1221.
Further referring to Fig. 3, in the present embodiment, the outer extending apparatus 11 of interior receipts and the outer cyclone 12 of inward turning all pass through
What securing cover plate 13 linked together, i.e., in the present embodiment, pivot structure 1112 and waist branch on thigh support frame 111
Rotating shaft 124 on support 121 is connected with securing cover plate 13, and referring to Fig. 6, leaf spring pressure on leg elastic device 112
Block 1124 and connecting plate 1123 link together with leaf spring lid 14, while leaf spring lid 14 is further through bolt and securing cover plate 13
It is connected and fixed, the so interior passive hip pass received cyclone 12 outside outer extending apparatus 11 and inward turning and just connect into integrative-structure
Save automatic return to neutral mechanism.
Advantage of the present utility model is：
1st, it is simple in construction compact, extending apparatus outside interior receipts is provided separately with cyclone outside inward turning, and the outer extending apparatus of interior receipts with
The leg structure connection of exoskeleton robot, the outer cyclone of inward turning are connected with waist structure, the advance and retrogressing to leg respectively
And the inward turning of waist is controlled with outward turning, make the action of whole exoskeleton robot operation closer to the motion mould of human body
Formula, simulated effect is good, make client be put on running it is more smoothly；
2nd, using the elastic working principle of flexible member, it is automatic that a motion is carried out to thigh support frame and waist support bracket
The function of neutral position is replied, in being carried out back without active mode driving leg support frame and waist support bracket, more saves electric energy,
And when human body is dressed, restoring force as exoskeleton robot is given without human body, exoskeleton robot is protected automatically
The balance of human body is held, is taken action more comfortable, it is laborsaving, it is more beneficial for rehabilitation exercise；
3rd, in motion process, thigh support frame is bigger than the power that waist support bracket acts on, fixed to put two the first leaf springs,
And be symmetrical set, the power on thigh support frame is resolved into two, so as to preferably bear the power on thigh support frame,
Bigger restoring force can be provided to thigh support frame, it is ensured that the normal work of leg structure.
Disclosed above is only several specific embodiments of the present utility model, but the utility model is not limited to this,
The changes that any person skilled in the art can think of should all fall into the scope of protection of the utility model.
Claims (10)
1. the automatic return to neutral mechanism of a kind of passive hip joint, it is characterised in that including receiving outer extending apparatus, the interior receipts abduction in one
Device includes thigh support frame and leg elastic device, and the thigh support frame contacts connection, the leg with leg elastic device
Portion's support frame is connected with leg structure, and with controlling the motor connection of leg exercise, motor driving leg structure is forward or backward
Motion, the human body acted on leg structure tilt in motion, drive thigh support frame to extrude leg to the left or to the right
Elastic component, terminate when human body acts on the power moved to the left or to the right on leg structure, the leftward or rightward fortune of thigh support frame
Dynamic power weakens or disappeared, and the restoring force driving leg support frame of leg elastic device is returned to neutral position.
2. the automatic return to neutral mechanism of passive hip joint according to claim 1, it is characterised in that the leg elastic device bag
The first leaf spring, the second leaf spring, connecting plate and leaf spring briquetting are included, the first leaf spring and the second leaf spring are set up in parallel, and upper end is blocked respectively
It is connected on leaf spring to cover, and is pressed and fixed by connecting plate, the middle part of first leaf spring and the second leaf spring is connected by leaf spring briquetting
Support is connect, the first leaf spring and the second leaf spring touch connection with thigh support bridge joint respectively, and leg structure travels forward, thigh support frame
Lower end swing to the left, the upper end of thigh support frame contacts with the first leaf spring and compresses the first leaf spring, thigh support frame lower end to
The power of left movement weakens or disappeared, and the first leaf spring recovers deformation, and the restoring force of the first leaf spring acts on thigh support frame, leg branch
Support is returned to neutral position, and leg structure moves backward, and thigh support frame lower end moves right, thigh support frame and the second plate
Spring contacts and compresses the second leaf spring, and when when thigh support frame lower end, power to the right weakens or disappeared, the second leaf spring replys deformation, returns
Multiple power acts on thigh support frame, and thigh support frame is returned to neutral position.
3. the automatic return to neutral mechanism of passive hip joint according to claim 2, it is characterised in that first leaf spring is provided with
Two, it is also secured to leaf spring positioned at the right and left of the second leaf spring, two the first leaf springs respectively with the second leaf spring and covers, leg
To left movement, the upper end of thigh support frame extrudes the first leaf spring of left and right ends simultaneously, and extruding force is averaged for support frame lower end
Decompose on two piece of first leaf spring.
4. the automatic return to neutral mechanism of passive hip joint according to Claims 2 or 3 any one, it is characterised in that the leg
The first cushion block is provided with the contact surface of portion's support frame and the first leaf spring, the thigh support frame on the second leaf spring contact surface with setting
The second cushion block is equipped with, thigh support frame lower end extrudes the first leaf spring, institute to left movement, thigh support frame upper end by the first cushion block
State thigh support frame lower end to move right, thigh support frame extrudes the second leaf spring by the second cushion block.
5. the passive automatic return to neutral mechanism of hip joint according to claim 4, it is characterised in that the thigh support frame it is upper
End is provided with cylinder pivot structure, and thigh support frame is divided into top and bottom, and first cushion block is arranged on cylinder
The upper end of body pivot structure, second cushion block is arranged on the lower end of pivot structure, when thigh support frame lower end is leftward or rightward,
Respectively using cylinder pivot structure as axle swing, thigh support frame lower end to the left, the first cushion block positioned at thigh support frame upper end
Contacted with the first leaf spring and extrude the first leaf spring deformation, the second cushion block and the second leaf spring are remote, thigh support frame lower end to the right, position
It is remote in the first cushion block of thigh support frame upper end and the first leaf spring, the second cushion block and the second plate positioned at thigh support frame lower end
Spring contacts and extrudes the second leaf spring deformation, and the lower end of the thigh support frame is suspension ring structure, there is installation settings in suspension ring structure
The motor of leg structure motion is driven, motor driving leg structure advances or retreated.
6. the automatic return to neutral mechanism of a kind of passive hip joint, it is characterised in that including cyclone outside an inward turning, the inward turning outward turning
Device includes waist support bracket and waist elasticity device, and the waist support bracket is connected with exoskeleton robot waist, institute
State waist elasticity device to be fixed on securing cover plate, when human body is acted on leg structure, and leg exercise drives waist structure
During torsion, waist support bracket follows waist structure to reverse together, waist support bracket extruding waist elasticity device, waist support bracket
When the power of rotation outwardly or inwardly weakens or disappeared, waist elasticity power driving waist support bracket is returned to neutral position.
7. the automatic return to neutral mechanism of passive hip joint according to claim 6, it is characterised in that the waist elasticity device bag
The 3rd leaf spring and flat spring bracket are included, the 3rd leaf spring is laterally disposed, and the both ends of the 3rd leaf spring are fixed on flat spring bracket, institute
State and the 3rd cushion block, when waist support bracket outwardly or inwardly rotates, waist are provided with the contact surface of waist support bracket and the 3rd leaf spring
Portion's support frame extrudes the 3rd leaf spring by the 3rd cushion block to the left or to the right.
8. the automatic return to neutral mechanism of passive hip joint according to claim 6, it is characterised in that the waist elasticity device bag
Rubbing board spring bracket, left spring, right spring, left spring fixed column and right spring fixed column, left spring fixed column and right spring are fixed
Post is respectively symmetrically fixed on waist support bracket, and the left spring and right spring are fixed on waist support bracket by fixed column respectively
Between flat spring bracket, waist support bracket stretches right spring, waist support bracket outwards rotates, and stretches left spring to internal rotation.
9. according to the automatic return to neutral mechanism of passive hip joint described in any one of claim 7 or 8, it is characterised in that the waist
Rotating shaft is provided with portion's support frame, rotating shaft houses upper and lower ends and the rotating shaft of through hole through the accommodating through hole on waist support bracket
The position of connection is provided with the thrust bearing for bearing the axial force that leg structure conduction comes up.
10. a kind of exoskeleton robot, it is characterised in that closed including the passive hip described in the claims 1-5 any one
Automatic return to neutral mechanism, or the automatic return to neutral mechanism of passive hip joint described in claim 6-9 any one are saved, it is also either same
When possess the automatic return to neutral mechanism of passive hip joint of the claims 1-5 and claim 6-9 any one, in addition to leg
Structure and waist structure, one end connection waist structure of the passive automatic return to neutral mechanism of hip joint, other end connected legs structure, waist
Portion's structure is symmetrical, and the left and right ends of waist structure connect an automatic return to neutral mechanism of passive hip joint respectively, each passive
The automatic return to neutral mechanism of hip joint is all connected with a leg structure, and exoskeleton robot is fixed on human body by wearing mode.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720412904.4U CN206840064U (en) | 2017-04-19 | 2017-04-19 | The passive automatic return to neutral mechanism of hip joint and exoskeleton robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720412904.4U CN206840064U (en) | 2017-04-19 | 2017-04-19 | The passive automatic return to neutral mechanism of hip joint and exoskeleton robot |
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| CN206840064U true CN206840064U (en) | 2018-01-05 |
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| CN201720412904.4U Withdrawn - After Issue CN206840064U (en) | 2017-04-19 | 2017-04-19 | The passive automatic return to neutral mechanism of hip joint and exoskeleton robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106891328A (en) * | 2017-04-19 | 2017-06-27 | 深圳市奇诺动力科技有限公司 | The passive automatic return to neutral mechanism of hip joint and exoskeleton robot |
| CN108095980A (en) * | 2017-12-05 | 2018-06-01 | 华中科技大学 | A kind of passive exoskeleton device of hip joint based on energy timesharing regulation and control |
| CN109223454A (en) * | 2018-09-29 | 2019-01-18 | 北京精密机电控制设备研究所 | A kind of assistance exoskeleton robot waist synkinesia mechanical structure |
-
2017
- 2017-04-19 CN CN201720412904.4U patent/CN206840064U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106891328A (en) * | 2017-04-19 | 2017-06-27 | 深圳市奇诺动力科技有限公司 | The passive automatic return to neutral mechanism of hip joint and exoskeleton robot |
| CN108095980A (en) * | 2017-12-05 | 2018-06-01 | 华中科技大学 | A kind of passive exoskeleton device of hip joint based on energy timesharing regulation and control |
| CN108095980B (en) * | 2017-12-05 | 2019-11-22 | 华中科技大学 | A kind of passive exoskeleton device of hip joint based on energy timesharing regulation |
| CN109223454A (en) * | 2018-09-29 | 2019-01-18 | 北京精密机电控制设备研究所 | A kind of assistance exoskeleton robot waist synkinesia mechanical structure |
| CN109223454B (en) * | 2018-09-29 | 2021-03-26 | 北京精密机电控制设备研究所 | Waist auxiliary movement mechanical structure of power-assisted exoskeleton robot |
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