CN209812304U - Wearable walking-aid robot mechanism device - Google Patents
Wearable walking-aid robot mechanism device Download PDFInfo
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- CN209812304U CN209812304U CN201920054988.8U CN201920054988U CN209812304U CN 209812304 U CN209812304 U CN 209812304U CN 201920054988 U CN201920054988 U CN 201920054988U CN 209812304 U CN209812304 U CN 209812304U
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Abstract
The utility model relates to a wearable helps capable robot mechanism device. At present, most walking aid mechanisms have the following defects: the degree of freedom and the matching degree of the lower limbs of the human body are not enough, the range of motion of the human body cannot be expanded to the maximum extent, and the legs on one side are of a series structure, so that the stability is poor. The utility model relates to a wearable helps capable robot mechanism device, wherein: waist backplate and waist base fixed connection, first sliding pair passes through the fourth revolute pair with the connecting rod to be connected, the connecting rod is fixed respectively on third revolute pair surface with waist connecting rod one end, the waist connecting rod passes through the second revolute pair with last thigh connecting rod to be connected, lower thigh connecting rod cup joints in last thigh connecting rod, lower thigh connecting rod passes through first revolute pair with last shank connecting rod to be connected, lower shank connecting rod cup joints in last shank connecting rod, go up the ball pair and pass through the second sliding pair with lower ball pair and be connected. The device has compact structure, reduced cost, and improved stability and safety compared with common serial mechanism.
Description
Technical Field
The utility model belongs to the technical field of help capable robotechnology and specifically relates to a wearable helps capable robot mechanism device.
Background
In recent years, the wearable walking-assisted robot is widely recognized in the field of human body assistance gradually, is designed according to the principle of human bionics, is mainly applied to the fields of patients with inconvenient actions, rehabilitation of disabled people or medical assistance and the like, is mainly used for assisting walking of the disabled people and providing human body assistance for normal people, has the functions of assisting lower limb movement, enhancing lower limb functions and the like, and has a good development prospect. The invention with application number 200410053695.6 and the utility model with application number 200420081797.4 design a mechanism with 8 degrees of freedom for two lower limbs. Compared with the simplified human body single lower limb 7 freedom degree, the configuration mode of the single lower limb 4 freedom degree arrangement has less freedom degree; chinese patent publication No. 101589983 discloses a wearable lower limb exoskeleton device having 12 rotational degrees of freedom in both lower limbs, 6 degrees of freedom in each single lower limb, 2 degrees of freedom in hip joint, 1 degree of freedom in knee joint, and 3 degrees of freedom in ankle joint. However, the device is limited to a structure with 6 degrees of freedom in series connection at one side leg, so that the mechanism is easy to be unstable due to factors such as inertia and foot force imbalance, and the stability is poor. In general, most current walking assist mechanisms have the following disadvantages: the degree of freedom and the matching degree of the lower limbs of the human body are not enough, the range of motion of the human body cannot be expanded to the maximum extent, and the legs on one side are of a series structure, so that the stability is poor.
Therefore, it is necessary to design a mechanism that can better match the degrees of freedom of each joint of the human body and has better stability and safety.
SUMMERY OF THE UTILITY MODEL
Technical problem to be solved
The utility model discloses a overcome not enough of current mechanism device and a novel actuating mechanism that provides. The device adopts a series-parallel structure, integrates the advantages of a series mechanism and a parallel mechanism, meets the range of motion of each joint of the lower limb of the human body, and obviously enhances the stability and the safety compared with the common series structure.
(II) technical scheme
The technical scheme of the utility model: a wearable walking-aid robot mechanism device comprises a waistband, a waist back plate, a waist base, a first moving pair, a first connecting piece, a first openable ring, an upper ball pair, a second moving pair, a lower ball pair, a second openable ring, a second connecting piece, a foot plate, a lower shank connecting rod, an upper shank connecting rod, a first rotating pair, a lower shank connecting rod, an upper shank connecting rod, a waist connecting rod, a second rotating pair, a third rotating pair, a connecting rod and a fourth rotating pair; wherein: the waist belt is fixedly connected with the waist back plate, the waist back plate is fixedly connected with the waist base, the waist belt is tied at the waist of a wearer, the first sliding pair is connected with the connecting rod through a fourth sliding pair, the rotating shaft of the fourth sliding pair is fixedly connected with one side of the first sliding pair, one end of the connecting rod and one end of the waist connecting rod are respectively fixed on the outer surface of the third sliding pair, the rotating shaft of the third sliding pair is fixedly connected with one side of the waist base, the waist connecting rod is connected with the upper thigh connecting rod through a second sliding pair, the rotating shaft of the second sliding pair is fixedly connected with one side of the waist connecting rod, the lower thigh connecting rod is sleeved in the upper thigh connecting rod, the lower thigh connecting rod is connected with the upper shank connecting rod through a first sliding pair, the lower shank connecting rod is sleeved in the upper shank connecting rod, the first openable ring is fixedly connected with the lower shank connecting rod through a first connecting piece, the bottom of the first openable, the upper ball pair and the lower ball pair are connected through a second moving pair to form a 3-SPS parallel mechanism, and the second openable ring is connected with the foot plate through second connecting pieces which are symmetrical on two sides.
A wearable walking assist robotic mechanism device, wherein: the first sliding pair is of a telescopic rod structure.
A wearable walking assist robotic mechanism device, wherein: the first sliding pair, the third rotating pair, the connecting rod and the fourth rotating pair form a quadrilateral mechanism.
A wearable walking assist robotic mechanism device, wherein: the third and fourth revolute pair axes are along the sagittal axis, the second revolute pair axis is along the frontal axis, and the two are orthogonal.
A wearable walking assist robotic mechanism device, wherein: the lower shank connecting rod, the upper shank connecting rod, the lower thigh connecting rod and the upper thigh connecting rod are provided with mounting holes with adjustable lengths.
A wearable walking assist robotic mechanism device, wherein: the ankle joint is arranged in the 3-SPS parallel mechanism, and the 3SPS/S parallel mechanism can be formed according to the structural characteristics of the ankle joint, namely, a natural right-restriction branched chain is added, so that the 3SPS/S parallel mechanism has three rotational degrees of freedom.
A wearable walking assist robotic mechanism device, wherein: the SPS branch can be replaced by UPS, PSS, RSS, RUS and other branches.
(III) advantageous effects
The utility model has the advantages that: the utility model relates to a wearable walking-aid robot mechanism device, which has 12 rotational degrees of freedom and 6 degrees of freedom for each lower limb, and can better fit the motion of each joint when the lower limb of a human body walks in normal gait; the abduction and adduction of the hip joint are realized by 1 quadrilateral mechanism, and the hip joint has the biggest characteristics and advantages that the abduction and adduction can be realized by only using 1 driving pair, has compact structure and can reduce the cost; the ankle joint adopts a 3-SPS mechanism to realize the rotation in three directions through 3 driving pairs, the series-parallel mechanism integrates the advantages of a series mechanism and a parallel mechanism, and the stability and the safety of the series mechanism are obviously enhanced compared with the common series mechanism under the condition of meeting the rotation range of each rotating pair.
In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be further explained with reference to the drawings.
Drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a connection diagram of the first openable ring and the second openable ring of the present invention.
Fig. 3 is a first moving pair structure diagram of the present invention.
Reference numerals: the waist belt comprises a waist belt 1, a waist back plate 2, a waist base 3, a first sliding pair 4, a first connecting piece 5, a first openable ring 6, an upper ball pair 7, a second sliding pair 8, a lower ball pair 9, a second openable ring 10, a second connecting piece 11, a foot plate 12, a lower shank connecting rod 13, an upper shank connecting rod 14, a first rotating pair 15, a lower shank connecting rod 16, an upper shank connecting rod 17, a waist connecting rod 18, a second rotating pair 19, a third rotating pair 20, a connecting rod 21 and a fourth rotating pair 22.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Embodiment 1, please refer to fig. 1-3, a wearable walking-assisted robot mechanism device includes a waist belt 1, a waist backboard 2, a waist base 3, a first sliding pair 4, a first connecting member 5, a first openable ring 6, an upper ball pair 7, a second sliding pair 8, a lower ball pair 9, a second openable ring 10, a second connecting member 11, a foot plate 12, a lower shank link 13, an upper shank link 14, a first rotating pair 15, a lower shank link 16, an upper shank link 17, a waist link 18, a second rotating pair 19, a third rotating pair 20, a link 21, and a fourth rotating pair 22; wherein: the waist belt 1 is fixedly connected with a waist back plate 2, the waist back plate 2 is fixedly connected with a waist base 3, the waist belt 1 is tied at the waist of a wearer, a first moving pair 4 is connected with a connecting rod 21 through a fourth rotating pair 22, the rotating shaft of the fourth rotating pair 22 is fixedly connected with the waist base 3, one end of the connecting rod 21 and one end of a waist connecting rod 18 are respectively fixed on the outer surface of a third rotating pair 20, the rotating shaft of the third rotating pair 20 is fixedly connected with the waist base 3, the waist connecting rod 18 is connected with an upper thigh connecting rod 17 through a second rotating pair 19, a lower thigh connecting rod 16 is sleeved in the upper thigh connecting rod 17, a lower thigh connecting rod 16 is connected with an upper shank connecting rod 14 through a first rotating pair 15, a lower shank connecting rod 13 is sleeved in the upper shank connecting rod 14, a first openable ring 6 is fixedly connected with a lower shank connecting rod 13 through a first connecting piece 5, three upper ball pairs 7 are, three lower ball pairs 9 are installed at the top of the second openable ring 10, the upper ball pairs 7 are connected with the lower ball pairs 9 through second moving pairs 8 to form a 3-SPS parallel mechanism, and the second openable ring 10 is connected with the foot plate 12 through second connecting pieces 11 which are symmetrical on two sides.
Embodiment 2, please refer to fig. 1 and 3, a wearable walking-assisted robot mechanism device, wherein: the first sliding pair 4 is a telescopic rod structure and can be freely contracted and elongated. The rest is the same as example 1.
Embodiment 3, please refer to fig. 1, a wearable walking-aid robot mechanism device, wherein: the first sliding pair 4, the third rotating pair 20, the connecting rod 21 and the fourth rotating pair 22 form a quadrilateral mechanism, and the first sliding pair 4 is used as a driving pair, so that abduction and adduction motions of the hip joint are realized. The rest is the same as example 1.
Embodiment 4, please refer to fig. 1, a wearable walking-aid robot mechanism device, wherein: the third 20 and fourth 22 revolute pair axes are in the sagittal axis direction and the second revolute pair 19 axis is in the frontal axis direction, which are orthogonal. The rest is the same as example 1.
Embodiment 5, please refer to fig. 1, a wearable walking-aid robot mechanism device, wherein: the lower shank connecting rod 13, the upper shank connecting rod 14, the lower thigh connecting rod 16 and the upper thigh connecting rod 17 are provided with mounting holes with adjustable lengths, and different leg lengths are realized through screw fixation, so that the coaxiality of all joints is ensured. The rest is the same as example 1.
Embodiment 6, please refer to fig. 1 and 2, a wearable walking-assisted robot mechanism device, wherein: the ankle joint is arranged in the 3-SPS parallel mechanism, and the 3SPS/S parallel mechanism can be formed according to the structural characteristics of the ankle joint, namely, a natural right-restriction branched chain is added, so that the 3SPS/S parallel mechanism has three rotational degrees of freedom. The rest is the same as example 1.
Embodiment 7, please refer to fig. 1 and 2, a wearable walking-assisted robot mechanism device, wherein: the SPS branch can be replaced by UPS, PSS, RSS, RUS and other branches. The rest is the same as example 1.
The working principle is as follows:
when the left limb is in a grounded state, the first sliding pair 4 is set as a driving pair, abduction and adduction of the right limb can be realized through the fourth rotating pair 22 and the third rotating pair 20, and abduction and adduction of the left limb can be realized through the same principle; one end of the waist connecting rod 18 is connected with the upper thigh connecting rod 17 through a second revolute pair 19, so that the flexion and extension of the hip joint can be realized, and similarly, the flexion and extension of the hip joint can also be realized on the left side; the lower thigh connecting rod 16 is connected with the upper shank connecting rod 14 through a first revolute pair 15, so that the flexion and extension of the knee joint can be realized; the upper ball pair 7 and the lower ball pair 9 are connected through a second sliding pair 8 to form a 3-SPS parallel mechanism, a wearer can place the ankle joint of the wearer in the circular ring through the first openable and closable circular ring 6 and the second openable and closable circular ring 10, the three second sliding pairs 8 are driving pairs, and the mechanism can realize the rotation in three directions; the feet are respectively arranged on the foot plates at the two sides, and the wearable performance is good.
It is to be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. A wearable walking-aid robot mechanism device comprises a waistband (1), a waist back plate (2), a waist base (3), a first sliding pair (4), a first connecting piece (5), a first openable ring (6), an upper ball pair (7), a second sliding pair (8), a lower ball pair (9), a second openable ring (10), a second connecting piece (11), a foot plate (12), a lower shank connecting rod (13), an upper shank connecting rod (14), a first rotating pair (15), a lower shank connecting rod (16), an upper shank connecting rod (17), a waist connecting rod (18), a second rotating pair (19), a third rotating pair (20), a connecting rod (21) and a fourth rotating pair (22); the method is characterized in that: the waist belt (1) is fixedly connected with the waist back plate (2), the waist back plate (2) is fixedly connected with the waist base (3), the waist belt (1) is tied on the waist of a wearer, the first moving pair (4) is connected with the connecting rod (21) through the fourth rotating pair (22), the rotating shaft of the fourth rotating pair (22) is fixedly connected with one side of the first moving pair (4), the connecting rod (21) and one end of the waist connecting rod (18) are respectively fixed on the outer surface of the third rotating pair (20), the rotating shaft of the third rotating pair (20) is fixedly connected with one side of the waist base (3), the waist connecting rod (18) is connected with the upper thigh connecting rod (17) through the second rotating pair (19), the rotating shaft of the second rotating pair (19) is fixedly connected with one side of the waist connecting rod (18), the lower thigh connecting rod (16) is sleeved in the upper thigh connecting rod (17), and the lower thigh connecting rod (16) is connected with the upper shank connecting rod (14) through the first rotating pair (15, lower shank connecting rod (13) cup joints in last shank connecting rod (14), first ring of can opening and shutting (6) pass through first connecting piece (5) and lower shank connecting rod (13) fixed connection, ball pair (7) are gone up to three in first ring of can opening and shutting (6) bottom is installed, ball pair (9) are down installed at second ring of can opening and shutting (10) top, it removes vice (8) through the second with lower ball pair (9) to go up ball pair (7) and is connected, constitute 3-SPS parallel mechanism, second ring of can opening and shutting (10) link to each other through bilateral symmetry's second connecting piece (11) with sole (12).
2. A wearable walking-aid robotic mechanism device according to claim 1, characterized in that: the first sliding pair (4) is of a telescopic rod structure.
3. A wearable walking-aid robotic mechanism device according to claim 1, characterized in that: the first sliding pair (4), the third revolute pair (20), the connecting rod (21) and the fourth revolute pair (22) form a quadrilateral mechanism.
4. A wearable walking-aid robotic mechanism device according to claim 1, characterized in that: the axes of the third revolute pair (20) and the fourth revolute pair (22) are along the sagittal axis, and the axis of the second revolute pair (19) is along the frontal axis, and the sagittal axis and the frontal axis are perpendicular to each other.
5. A wearable walking-aid robotic mechanism device according to claim 1, characterized in that: the lower shank connecting rod (13), the upper shank connecting rod (14), the lower thigh connecting rod (16) and the upper thigh connecting rod (17) are provided with mounting holes with adjustable lengths.
6. A wearable walking-aid robotic mechanism device according to claim 1, characterized in that: the ankle joint is arranged in the 3-SPS parallel mechanism, and the 3SPS/S parallel mechanism can be formed according to the structural characteristics of the ankle joint, namely, a natural right-restriction branched chain is added, so that the 3SPS/S parallel mechanism has three rotational degrees of freedom.
7. A wearable walking-aid robotic mechanism device according to claim 1, characterized in that: the SPS branch can be replaced by UPS, PSS, RSS, RUS and other branches.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920054988.8U CN209812304U (en) | 2019-01-14 | 2019-01-14 | Wearable walking-aid robot mechanism device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920054988.8U CN209812304U (en) | 2019-01-14 | 2019-01-14 | Wearable walking-aid robot mechanism device |
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| Publication Number | Publication Date |
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| CN209812304U true CN209812304U (en) | 2019-12-20 |
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| CN201920054988.8U Withdrawn - After Issue CN209812304U (en) | 2019-01-14 | 2019-01-14 | Wearable walking-aid robot mechanism device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109664272A (en) * | 2019-01-14 | 2019-04-23 | 南昌大学 | A kind of novel wearable assistant robot mechanism arrangement |
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2019
- 2019-01-14 CN CN201920054988.8U patent/CN209812304U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109664272A (en) * | 2019-01-14 | 2019-04-23 | 南昌大学 | A kind of novel wearable assistant robot mechanism arrangement |
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Granted publication date: 20191220 Effective date of abandoning: 20230728 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20191220 Effective date of abandoning: 20230728 |