CN210551209U - Device for improving hip joint extension assistance efficiency of flexible exoskeleton robot - Google Patents
Device for improving hip joint extension assistance efficiency of flexible exoskeleton robot Download PDFInfo
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- CN210551209U CN210551209U CN201921625854.3U CN201921625854U CN210551209U CN 210551209 U CN210551209 U CN 210551209U CN 201921625854 U CN201921625854 U CN 201921625854U CN 210551209 U CN210551209 U CN 210551209U
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Abstract
The utility model discloses a device for improving the hip joint extension assisting power efficiency of a flexible exoskeleton robot, which comprises a base, a cam-like pressure lever mechanism, a rotating block, a telescopic rod outer sleeve, a telescopic rod inner rod, a telescopic rod limiting screw, a telescopic rod locking sleeve and a Bowden cable guide pipe; one end of the rotating block is arranged in the base through a cam-like pressure lever mechanism, and the other end of the rotating block is connected with one end of the telescopic rod outer sleeve; the other end of the telescopic rod outer sleeve is sleeved on one end of the telescopic rod inner rod, and the telescopic rod locking sleeve is sleeved at the joint of the telescopic rod outer sleeve and the telescopic rod inner rod; the tail end of the other end of the inner rod of the telescopic rod is provided with a radial through hole, and the Bowden wire guide tube is arranged in the radial through hole through a positioning screw; the utility model discloses the device has increased the angle between bowden cable and thigh, has promoted helping hand efficiency, and the security is higher.
Description
Technical Field
The utility model belongs to flexible ectoskeleton robot field provides a device that improves flexible ectoskeleton robot hip joint and extends helping hand efficiency very much.
Background
With the rapid development of the technological level, the demand of the fields of rehabilitation medicine, military, industry and the like on a man-machine cooperation wearable exoskeleton system is more and more increased, and particularly, when a soldier works in a long-distance marching or high altitude environment, the wearable exoskeleton system is needed to provide walking assistance, and the limb actions of the soldier cannot be hindered, so that the working capacity of the individual soldier is improved. In the application scenario, the characteristics of the exoskeleton system should be mainly embodied in that human-computer interaction force is flexible, the weight is light, the inertia is small, and especially, enough torque can be generated for joints to improve the walking ability of soldiers after wearing the exoskeleton system.
The existing exoskeleton is mainly divided into a rigid exoskeleton and a flexible exoskeleton, wherein the rigid exoskeleton is driven by a rigid member and a motor, is large in size, heavy in mass and large in limb joint inertia and cannot meet the requirements necessarily, and the flexible exoskeleton adopts cloth belts, Bowden wires and motors which accord with human engineering as driving devices, can provide flexible human-computer interaction force, and is light in mass and small in inertia. However, the bowden cable of the existing flexible exoskeleton assistance scheme is attached to the thigh to pull the joint, the torque of the bowden cable on the joint is very small, the assistance efficiency is very low, and the bowden cable is easy to cut clothes and even hurt the human body when the speed is high. Therefore the utility model discloses on first generation ectoskeleton design basis, further optimization has designed a device that improves flexible ectoskeleton robot hip joint and extends helping hand efficiency and has improved helping hand efficiency.
SUMMERY OF THE UTILITY MODEL
The utility model provides an improve device of flexible ectoskeleton robot hip joint extension helping hand efficiency to solve the above-mentioned bowden line helping hand efficiency problem low excessively and the security is not enough.
In order to solve the technical problem, the utility model discloses technical scheme as follows: the device is characterized by comprising a base (1), a cam-like pressure lever mechanism, a rotating block (3), a telescopic rod outer sleeve (4), a telescopic rod inner rod (5), a telescopic rod limiting screw (6), a telescopic rod locking sleeve (7) and a Bowden wire guide tube (8); one end of the rotating block (3) is arranged in the base (1) through a cam-like pressure lever mechanism, and the other end of the rotating block is connected with one end of the telescopic rod outer sleeve (4); the other end of the telescopic rod outer sleeve (4) is sleeved on one end of the telescopic rod inner rod (5), and the telescopic rod locking sleeve (7) is sleeved at the joint of the telescopic rod outer sleeve (4) and the telescopic rod inner rod (5); the tail end of the other end of the inner rod (5) of the telescopic rod is provided with a radial through hole, and the Bowden wire guide tube (8) is arranged in the radial through hole through a positioning screw; the outer side surface of the middle part of one side of the Bowden wire guide tube (8) is provided with an installation bolt, the installation bolt is provided with a through hole, the middle part of the positioning screw is a smooth surface, and the Bowden wire guide tube (8) can freely rotate around the positioning screw;
a cam-like pressure lever mechanism is arranged on the telescopic rod locking sleeve (7). One side of the tail end surface of one end of the telescopic rod outer sleeve (4) connected with the telescopic rod inner rod (5) is provided with a through hole, and the other side is provided with a groove; be provided with horizontal draw-in groove in pole (5) in the telescopic link of the one end that links to each other with telescopic link overcoat (4), install in the through-hole on telescopic link overcoat (4) surface and in the horizontal draw-in groove on pole (5) in the telescopic link of its tail end position for the flexible length range of restriction and rotatory degree of freedom, prevent that pole (5) in the telescopic link from stretching out excessively and break away from with telescopic link overcoat (4). The telescopic rod locking sleeve (7) is sleeved at the joint of the telescopic rod outer sleeve (4) and the telescopic rod inner rod (5), and when the cam-like pressure bar mechanism on the telescopic rod locking sleeve (7) is in a locking state, the groove on the telescopic rod outer sleeve (4) deforms to clamp the telescopic rod inner rod (5). When the cam-like pressure lever mechanism on the telescopic rod locking sleeve (7) is in a loosening state, the cam-like pressure lever mechanism is in a locking state after the length of the telescopic rod inner rod (5) inside the telescopic rod outer sleeve (4) is adjusted.
The cam-like compression bar mechanism is an eccentric cam locking mechanism, is pulled up to be in a loosening state, and is pressed down to be in a locking state.
Compared with the prior art, the utility model discloses beneficial effect does: the angle between the Bowden cable and the thigh is increased, so that the torque of the Bowden cable on the hip joint is obviously increased, and the walking assistance efficiency is improved; the pressure of the Bowden wire on the hip joint is reduced, and the pressure is beneficial to the skeletal joint of the human body; the bowden cable is kept at a certain distance from the human body in the working process, and the personal safety is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts, wherein:
fig. 1 is a schematic perspective view of an embodiment of the device of the present invention;
fig. 2 is a schematic front view of an embodiment of the apparatus of the present invention;
FIG. 3 is a schematic top view of an embodiment of the apparatus of the present invention;
fig. 4 is a schematic bottom view of an embodiment of the apparatus of the present invention;
fig. 5 is a schematic diagram of an exploded structure of an embodiment of the apparatus of the present invention;
fig. 6 is an assembly schematic of an embodiment of the inventive apparatus, wherein fig. 6(a) is an assembly side view and fig. 6(b) is an assembly front view;
fig. 7 is a schematic configuration of the hip joint portion of a first generation exoskeleton, where fig. 7(a) is a side view of the configuration and fig. 7(b) is a front view of the configuration;
fig. 8 is a graph comparing the torque applied to the hip joint before and after the device is installed on the exoskeleton, wherein fig. 8(a) is a graph of the torque applied to the hip joint after the device is installed, and fig. 8(b) is a graph of the torque applied to the hip joint before the device is installed.
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 application, 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.
The utility model provides a device (for short device) of flexible ectoskeleton robot hip joint extension helping hand efficiency improves, the device include base (1), class cam depression bar mechanism, rotatory piece (3), telescopic link overcoat (4), pole (5) in the telescopic link, telescopic link stop screw (6), telescopic link lock sleeve (7), bowden cable stand pipe (8). One end of the rotating block (3) is arranged in the base (1) through a cam-like pressure lever mechanism, and the other end of the rotating block is connected with one end of the telescopic rod outer sleeve (4); the other end of the telescopic rod outer sleeve (4) is sleeved on one end of the telescopic rod inner rod (5), and the telescopic rod locking sleeve (7) is sleeved at the joint of the telescopic rod outer sleeve (4) and the telescopic rod inner rod (5); the tail end of the other end of the inner rod (5) of the telescopic rod is provided with a radial through hole, and the Bowden wire guide tube (8) is installed in the radial through hole through a positioning screw. The outer side face of the middle part of one side of the Bowden wire guide tube (8) is provided with a mounting bolt, a through hole is formed in the mounting bolt, the middle part of the positioning screw is a smooth surface, and the Bowden wire guide tube (8) can rotate freely around the positioning screw.
A cam-like pressure lever mechanism is arranged on the telescopic rod locking sleeve (7). One side of the tail end surface of one end of the telescopic rod outer sleeve (4) connected with the telescopic rod inner rod (5) is provided with a through hole, and the other side is provided with a groove; be provided with horizontal draw-in groove in pole (5) in the telescopic link of the one end that links to each other with telescopic link overcoat (4), install in the through-hole on telescopic link overcoat (4) surface and in the horizontal draw-in groove on pole (5) in the telescopic link of its tail end position for the flexible length range of restriction and rotatory degree of freedom, prevent that pole (5) in the telescopic link from stretching out excessively and break away from with telescopic link overcoat (4). The telescopic rod locking sleeve (7) is sleeved at the joint of the telescopic rod outer sleeve (4) and the telescopic rod inner rod (5), and when the cam-like pressure bar mechanism on the telescopic rod locking sleeve (7) is in a locking state, the groove on the telescopic rod outer sleeve (4) deforms to clamp the telescopic rod inner rod (5). When the cam-like pressure lever mechanism on the telescopic rod locking sleeve (7) is in a loosening state, the cam-like pressure lever mechanism is in a locking state after the length of the telescopic rod inner rod (5) inside the telescopic rod outer sleeve (4) is adjusted.
The cam-like compression bar mechanism is an eccentric cam locking mechanism, is pulled up to be in a loosening state, and is pressed down to be in a locking state.
The cam-like pressure lever mechanisms are two and respectively comprise a cam-like pressure lever (21), a pressure lever locking stud, a pressure lever locking nut (24), a pressure lever fixing screw (25) and a pressure lever fixing nut (26), the pressure lever locking stud of the cam-like pressure lever mechanism arranged on the base (1) is a pressure lever locking stud (22) at the base, the pressure lever locking stud of the cam-like pressure lever mechanism arranged on the telescopic lever locking sleeve (7) is a pressure lever locking stud (23) at the telescopic lever, and the pressure lever locking stud (22) at the base is longer than the pressure lever locking stud (23) at the telescopic lever.
The cam-like pressure lever (21) is of a sheet structure with one end being a pressure plate and the other end being provided with an inward concave notch, the end surface of the end with the inward concave notch and one side surface are provided with convex curved surfaces, and the height of the convex curved surface of the end is less than that of the convex curved surface of the side surface; threaded through holes are formed in two sides of the concave notch, and one end of the pressure lever locking stud is installed in the concave notch through a pressure lever fixing screw (25) and a pressure lever fixing nut (26); a press rod fixing screw (25) is fixed on the cam-like press rod (21), and one end of a press rod locking stud is sleeved on the press rod fixing screw (25) and can rotate around the press rod fixing screw; the other end of the pressure lever locking stud penetrates through an installation carrier (such as a base (1) or a telescopic rod locking sleeve (7)) and then is fixedly connected through a pressure lever locking nut (24). When the similar cam pressure lever (21) is pulled up to be perpendicular to the installation carrier, the end face of the tail end of the similar cam pressure lever (21) is opposite to the installation carrier, and the installation carrier is in a loose state; when the end face of the tail end of the similar cam pressing rod (21) is pressed down to enable the end face to be far away from the installation carrier and the convex curved surface on the side face to extrude the installation carrier, the installation carrier is in a locking state.
Specifically, the base (1) is provided with two parallel side plates, and a press rod locking stud (22) at the base of a cam-like press rod mechanism arranged on the base (1) sequentially penetrates through a mounting hole in one side plate of the base (1), a mounting hole at one end of the rotating block (3) and a mounting hole in the other side plate of the base (1) and then is fixedly connected through a press rod locking nut (24), so that one end of the rotating block (3) is arranged in the base (1). The corresponding cam-like pressure lever (21) is pulled up, the two side plates of the base (1) are loosened, the angle of the rotating block (3) can be adjusted at the moment, the cam-like pressure lever (21) is pressed down, the two side plates of the base (1) are clamped, and the rotating block (3) is locked at the moment. The other end of the rotating block (3) is connected with the telescopic rod outer sleeve (4) through threads, and when the rotating block (3) rotates, the telescopic rod outer sleeve (4) is driven to adjust the angle together, and then the bowden cable guide tube (8) arranged at the tail end of the rod (5) in the telescopic rod is driven to adjust the angle.
The telescopic rod locking sleeve (7) is a U-shaped clamping piece, mounting holes are formed in the two sides of the opening end of the U-shaped clamping piece, a compression rod locking stud (23) at the telescopic rod of a cam-like compression rod mechanism arranged on the telescopic rod locking sleeve (7) penetrates through the mounting holes in the two sides of the opening end of the telescopic rod locking sleeve (7) and then is fixedly connected through a compression rod locking nut (24), a corresponding cam-like compression rod (21) is pressed down, the telescopic rod locking sleeve (7) extrudes a telescopic rod outer sleeve (4) to deform so as to clamp an inner telescopic rod (5), and the relative position between the telescopic rod outer sleeve (4) arranged inside the telescopic rod locking sleeve (7) and the inner telescopic rod; when the corresponding cam-like pressure lever (21) is pulled up, the telescopic rod outer sleeve (4) and the telescopic rod inner rod (5) can slide relatively, so that the length of the device is adjusted.
The bottoms of two side plates parallel to the base (1) are flat bottom plates, and two side edges parallel to the two side plates are respectively provided with four threaded holes with openings for mounting the base (1); a strip-shaped opening parallel to the two side plates is arranged on the bottom plate between the two side plates, so that the cam-like pressure lever mechanism arranged on the bottom plate can fully extrude the base and clamp the locking rotating block (3).
The end face of the tail end of one end of the rotating block (3) arranged in the base (1) is a semicircular arc surface, so that the angle adjusting range is 0-180 degrees, and the length adjusting range of the telescopic rod outer sleeve (4) and the telescopic rod inner rod (5) is 110-170 mm.
The diameter of the through hole of the upper half part of the Bowden wire guide tube (8) is 5mm and is used for supporting the Bowden wire sleeve, and the diameter of the through hole of the lower half part of the Bowden wire guide tube is 1.5mm and is used for penetrating through the Bowden wire. In addition, the Bowden wire guide tube (8) can rotate freely around the positioning screw, so that the Bowden wire can not lose tension due to angle when passing out of the Bowden wire guide tube (8).
The utility model provides high flexible ectoskeleton robot hip joint extends device of helping hand efficiency, total three degree of freedom. Firstly, the rotating block (3) can rotate in a plane to adjust the angle of the device, and the angle range is 0-180 degrees; secondly, the inner rod (5) of the telescopic rod can relatively slide along the outer sleeve (4) of the telescopic rod to adjust the length of the device; the cam-like compression bar mechanism (2) can lock the two degrees of freedom; the Bowden wire guide tube (8) can rotate freely around the set screw to ensure that the Bowden wire is not angled out of the Bowden wire guide tube (8) and thus loses tension.
In use, referring to fig. 6, the device is fixed on the arc-shaped fixing plate (10) by screws, and the arc-shaped fixing plate (10) is fixed on the outer hard waistband (96) by screws. Two ends of a Bowden cable sleeve (92) are propped against the pulling force output end of the electric cabinet (91) and the upper end of the Bowden cable guide tube (8), the Bowden cable (93) penetrates out of the sleeve and penetrates through the Bowden cable guide tube (8) to pull a pull ring (94) on the rear side of a thigh knee pad (95) so as to generate torque for a hip joint, when the pulling force of the Bowden cable (93) is fixed, the angle and the length of the device can be adjusted according to body types of different wearers so as to increase the torque of the Bowden cable on the hip joint, the power assisting efficiency is improved, and obviously, the Bowden cable and a human body can be completely separated by the device, so that the personal safety of a.
Referring to fig. 7, the efficiency of assistance around the device provided by the present invention is compared for the exoskeleton installation. The device that the utility model provides a first generation ectoskeleton is not installed, bowden cable stand pipe direct mount is on outside hard waistband (96), and bowden cable sleeve pipe (92) both ends top is in electric cabinet (91) pulling force output and bowden cable stand pipe (8) upper end, thereby bowden cable (93) wear out from the sleeve pipe and pass bowden cable stand pipe (8) and draw pull ring (94) of drawing thigh knee-pad (95) rear side and produce the moment of torsion to the hip joint.
The bowden cable is sleeved with the bowden cable sleeve from the tension output end to the bowden cable guide tube, the bowden cable sleeve can guide the bowden cable to vertically penetrate out of the tension output end and vertically penetrate into the bowden cable guide tube, and therefore, no angle force loss exists in the process of transmitting the tension by the bowden cable. The Bowden cable sleeve is tightly propped against the upper end of the Bowden cable guide tube by virtue of the tension output end, the Bowden cable has a straightening tendency when the Bowden cable transmits tension, the Bowden cable sleeve can prevent the Bowden cable from straightening at the moment, and interaction force exists between the Bowden cable sleeve and the Bowden cable guide tube, so that certain friction loss can be generated between the Bowden cable sleeve and the Bowden cable guide tube, the friction loss, the interaction force between the Bowden cable sleeve and the Bowden cable guide tube and the friction coefficient between the Bowden cable sleeve and the Bowden cable guide tube are reduced by injecting lubricating oil, and. Through measuring, according to the utility model provides a device's longest length 170mm and 90 degrees contained angles are compared with first generation ectoskeleton, and required sleeve pipe length is left 323mm, right 246mm and left 341mm, right 227mm respectively. Additionally the utility model discloses length and angle can be adjusted in a flexible way to the device, and is consequently obvious, and the ectoskeleton is in the installation the utility model provides a friction loss behind the device can fall to minimumly through the adjustment, also installs promptly the utility model provides a friction loss behind the device before than the installation is lower.
Referring to FIG. 8, where F is the Bowden wire tension and L is the distance from the hip joint to the posterior thigh link. FN is the pressure on the hip joint, a mark a is the related parameter mark of the device, and a mark b is the related parameter mark of the first generation of the exoskeleton. Obviously, the torque T of the exoskeleton on the hip joint after the device is installedaTorque T to hip joint than first generation exoskeletonbMuch larger and reduced pressure on the hip joint. To sum up, the utility model provides a device can show and improve flexible ectoskeleton robot to hip joint's extension helping hand efficiency.
The utility model discloses the nothing is mentioned the part and is applicable to prior art.
Claims (8)
1. A device for improving the hip joint extension assisting efficiency of a flexible exoskeleton robot is characterized by comprising a base (1), a cam-like pressure lever mechanism, a rotating block (3), an expansion link outer sleeve (4), an expansion link inner rod (5), an expansion link limiting screw (6), an expansion link locking sleeve (7) and a Bowden cable guide pipe (8); one end of the rotating block (3) is arranged in the base (1) through a cam-like pressure lever mechanism, and the other end of the rotating block is connected with one end of the telescopic rod outer sleeve (4); the other end of the telescopic rod outer sleeve (4) is sleeved on one end of the telescopic rod inner rod (5), and the telescopic rod locking sleeve (7) is sleeved at the joint of the telescopic rod outer sleeve (4) and the telescopic rod inner rod (5); the tail end of the other end of the inner rod (5) of the telescopic rod is provided with a radial through hole, and the Bowden wire guide tube (8) is arranged in the radial through hole through a positioning screw; the outer side surface of the middle part of one side of the Bowden wire guide tube (8) is provided with an installation bolt, the installation bolt is provided with a through hole, the middle part of the positioning screw is a smooth surface, and the Bowden wire guide tube (8) can freely rotate around the positioning screw;
a cam-like pressure lever mechanism is arranged on the telescopic rod locking sleeve (7); one side of the tail end surface of one end of the telescopic rod outer sleeve (4) connected with the telescopic rod inner rod (5) is provided with a through hole, and the other side is provided with a groove; a transverse clamping groove is formed in the telescopic rod inner rod (5) at one end connected with the telescopic rod outer sleeve (4), a telescopic rod limiting screw (6) is installed in a through hole in the surface of the telescopic rod outer sleeve (4), and the tail end of the telescopic rod limiting screw is located in the transverse clamping groove in the telescopic rod inner rod (5) and used for limiting the telescopic length range and the rotary freedom degree and preventing the telescopic rod inner rod (5) from being separated from the telescopic rod outer sleeve (4) due to excessive extension; the telescopic rod locking sleeve (7) is sleeved at the joint of the telescopic rod outer sleeve (4) and the telescopic rod inner rod (5), and when the cam-like pressure bar mechanism on the telescopic rod locking sleeve (7) is in a locking state, the groove on the telescopic rod outer sleeve (4) deforms to clamp the telescopic rod inner rod (5); when the cam-like pressure lever mechanism on the telescopic rod locking sleeve (7) is in a loosening state, the length of the telescopic rod inner rod (5) in the telescopic rod outer sleeve (4) is adjusted, and then the cam-like pressure lever mechanism is in a locking state;
the cam-like compression bar mechanism is an eccentric cam locking mechanism, is pulled up to be in a loosening state, and is pressed down to be in a locking state.
2. The device for improving the hip joint extension assisting efficiency of the flexible exoskeleton robot according to claim 1, wherein the two cam-like pressure lever mechanisms are provided, and each cam-like pressure lever mechanism comprises a cam-like pressure lever (21), a pressure lever locking stud, a pressure lever locking nut (24), a pressure lever fixing screw (25) and a pressure lever fixing nut (26), the pressure lever locking stud of the cam-like pressure lever mechanism mounted on the base (1) is a pressure lever locking stud (22) at the base, the pressure lever locking stud of the cam-like pressure lever mechanism mounted on the telescopic lever locking sleeve (7) is a pressure lever locking stud (23) at the telescopic lever, and the pressure lever locking stud (22) at the base is longer than the pressure lever locking stud (23) at the telescopic lever;
the cam-like pressure lever (21) is of a sheet structure with one end being a pressure plate and the other end being provided with an inward concave notch, the end surface of the end with the inward concave notch and one side surface are provided with convex curved surfaces, and the height of the convex curved surface of the end is less than that of the convex curved surface of the side surface; threaded through holes are formed in two sides of the concave notch, and one end of the pressure lever locking stud is installed in the concave notch through a pressure lever fixing screw (25) and a pressure lever fixing nut (26); a press rod fixing screw (25) is fixed on the cam-like press rod (21), and one end of a press rod locking stud is sleeved on the press rod fixing screw (25) and can rotate around the press rod fixing screw; the other end of the pressure lever locking stud penetrates through the mounting carrier and is fixedly connected with the mounting carrier through a pressure lever locking nut (24); when the similar cam pressure lever (21) is pulled up to be perpendicular to the installation carrier, the end face of the tail end of the similar cam pressure lever (21) is opposite to the installation carrier, and the installation carrier is in a loose state; when the end face of the tail end of the similar cam pressing rod (21) is pressed down to enable the end face to be far away from the installation carrier and the convex curved surface on the side face to extrude the installation carrier, the installation carrier is in a locking state.
3. The device for improving the hip joint extension assisting efficiency of the flexible exoskeleton robot according to claim 1 is characterized in that two parallel side plates are arranged on a base (1), and a pressure rod locking stud (22) at the base of a cam-like pressure rod mechanism arranged on the base (1) penetrates through a mounting hole in one side plate of the base (1), a mounting hole at one end of a rotating block (3) and a mounting hole in the other side plate of the base (1) in sequence and then is fixedly connected through a pressure rod locking nut (24), so that one end of the rotating block (3) is arranged inside the base (1); the corresponding cam-like pressure lever (21) is pulled up, the two side plates of the base (1) are loosened, the angle of the rotating block (3) can be adjusted at the moment, the cam-like pressure lever (21) is pressed down, the two side plates of the base (1) are clamped, and the rotating block (3) is locked at the moment; the other end of the rotating block (3) is connected with the telescopic rod outer sleeve (4) through threads, and when the rotating block (3) rotates, the telescopic rod outer sleeve (4) is driven to adjust the angle together, and then the bowden cable guide tube (8) arranged at the tail end of the rod (5) in the telescopic rod is driven to adjust the angle.
4. The device for improving the hip joint extension assisting efficiency of the flexible exoskeleton robot as claimed in claim 1, wherein the telescopic rod locking sleeve (7) is a U-shaped clamping piece, mounting holes are formed in both sides of the open end of the telescopic rod locking sleeve, a compression rod locking stud (23) at the telescopic rod of the cam-like compression rod mechanism mounted on the telescopic rod locking sleeve (7) penetrates through the mounting holes in both sides of the open end of the telescopic rod locking sleeve (7) and then is fastened and connected through a compression rod locking nut (24), the corresponding cam-like compression rod (21) is pressed down, the telescopic rod locking sleeve (7) extrudes the telescopic rod outer sleeve (4) to deform to clamp the telescopic rod inner rod (5), so that the relative position between the telescopic rod outer sleeve (4) mounted inside the telescopic rod locking sleeve (7) and the telescopic rod inner rod (5) is; when the corresponding cam-like pressure lever (21) is pulled up, the telescopic rod outer sleeve (4) and the telescopic rod inner rod (5) can slide relatively, so that the length of the device is adjusted.
5. The device for improving the hip joint extension assisting efficiency of the flexible exoskeleton robot as claimed in claim 1, wherein the bottom of the two parallel side plates of the base (1) is a flat bottom plate, and four threaded holes with openings are respectively formed on the two sides parallel to the two side plates for mounting the base (1); a strip-shaped opening parallel to the two side plates is arranged on the bottom plate between the two side plates, so that the cam-like pressure lever mechanism arranged on the bottom plate can fully extrude the base and clamp the locking rotating block (3).
6. The device for improving the hip joint extension assisting efficiency of the flexible exoskeleton robot as claimed in claim 1, wherein the end face of the end of the rotating block (3) installed inside the base (1) is a semicircular arc surface, so that the angular adjustment range is 0-180 °.
7. The device for improving the hip joint extension assisting efficiency of the flexible exoskeleton robot as claimed in claim 1, wherein the length adjustment range of the telescopic rod outer sleeve (4) and the telescopic rod inner rod (5) is 110 mm-170 mm.
8. The device for improving the efficiency of assisting the hip joint extension of a flexible exoskeletal robot as claimed in claim 1, characterized in that the Bowden wire guide tube (8) has a 5mm diameter through hole in the upper half for the insertion of the Bowden wire sleeve and a 1.5mm diameter through hole in the lower half for the insertion of the Bowden wire.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921625854.3U CN210551209U (en) | 2019-09-27 | 2019-09-27 | Device for improving hip joint extension assistance efficiency of flexible exoskeleton robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921625854.3U CN210551209U (en) | 2019-09-27 | 2019-09-27 | Device for improving hip joint extension assistance efficiency of flexible exoskeleton robot |
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| CN210551209U true CN210551209U (en) | 2020-05-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110524524A (en) * | 2019-09-27 | 2019-12-03 | 河北工业大学 | A kind of device improving flexible exoskeleton robot hip joint stretching, extension power-assisted efficiency |
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2019
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110524524A (en) * | 2019-09-27 | 2019-12-03 | 河北工业大学 | A kind of device improving flexible exoskeleton robot hip joint stretching, extension power-assisted efficiency |
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