CN212044725U - Flexible helping hand of wearing formula is equipped - Google Patents
Flexible helping hand of wearing formula is equipped Download PDFInfo
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- CN212044725U CN212044725U CN202020698170.2U CN202020698170U CN212044725U CN 212044725 U CN212044725 U CN 212044725U CN 202020698170 U CN202020698170 U CN 202020698170U CN 212044725 U CN212044725 U CN 212044725U
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Abstract
The invention relates to wearable flexible power-assisted equipment which comprises a motor, a battery, a controller, a lifting Bowden wire, a first fixing belt, a second fixing belt, a fourth fixing belt, a fifth fixing belt and a plurality of joint sub-control devices, wherein the joint sub-control devices are respectively a joint sub-control device for lifting a hip joint, a joint sub-control device for lifting a knee joint and a joint sub-control device for lifting an ankle joint; according to the technical scheme, only one motor is used as a power source, so that the weight of a human body is greatly reduced, the carrying convenience is greatly improved, and the matching performance of the plurality of joint sub-control devices is good, so that the power assisting action is smooth and the power assisting effect is good.
Description
Technical Field
The invention relates to the technical field of wearable equipment, in particular to wearable flexible power-assisting equipment.
Background
The wearable flexible power assisting device is used for providing power assisting for the actions of human joints and assisting the actions of human bodies so as to reduce the metabolic consumption of the human bodies and delay the fatigue of the human bodies.
The flexible wearing equipment in the prior art generally controls all joints of a human body in a linkage mode, namely, a power source is adopted to drive a hip joint, a knee joint and an ankle joint to act in a coordinated mode; in order to realize the individual control of each joint, a form that one power source is matched with one joint is adopted in the prior art, so that the quantity of power elements is large, and when a plurality of joints need to be linked, the action matching performance of each power element is poor, the action is stiff, and an ideal boosting effect cannot be achieved, thereby being difficult to accept.
Disclosure of Invention
The invention aims to solve the technical problem of making up the defects of the prior art and provides a wearable flexible power assisting device.
To solve the technical problems, the technical scheme of the invention is as follows:
a wearable flexible power-assisted device comprises a motor, a battery, a controller, a lifting Bowden wire, a first fixing belt, a second fixing belt, a fourth fixing belt, a fifth fixing belt and a plurality of joint sub-control devices, wherein the joint sub-control devices are a joint sub-control device for lifting a hip joint, a joint sub-control device for lifting a knee joint and a joint sub-control device for lifting an ankle joint respectively;
the first fixing band is used for being fixed on the waist limb of a human body, the second fixing band is used for being fixed on the thigh part of the human body, the fourth fixing band is used for being fixed on the shank part of the human body, and the fifth fixing band is used for being fixed on the foot part of the human body;
the motor, the battery and the controller are all fixed on the first fixing belt, and the battery is used for supplying power to the motor, the controller and the joint sub-control device; the joint sub-control device for lifting the hip joint is fixed on the second fixing belt, the joint sub-control device for lifting the knee joint is fixed on the fourth fixing belt, and the joint sub-control device for lifting the ankle joint is fixed on the fifth fixing belt;
the tail end of the lifting Bowden wire hip joint branch is fixedly connected with the movable end of the joint sub-control device for the lifting hip joint, the tail end of the lifting Bowden wire knee joint branch is fixedly connected with the movable end of the joint sub-control device for the lifting knee joint, and the tail end of the lifting Bowden wire ankle joint branch is fixedly connected with the movable end of the joint sub-control device for the lifting ankle joint.
Furthermore, the device also comprises a pull-down Bowden cable, and the plurality of joint sub-control devices also comprise a pull-down joint sub-control device for the hip joint, a pull-down joint sub-control device for the knee joint and a pull-down joint sub-control device for the ankle joint; the joint sub-control device for the pull-down hip joint is fixed on the second fixing belt, the joint sub-control device for the pull-down knee joint is fixed on the fourth fixing belt, and the joint sub-control device for the pull-down ankle joint is fixed on the fifth fixing belt; the reel comprises a reel A and a reel B which are coaxially and fixedly connected in series, the head end of the lifting Bowden wire is wound on the reel A, the head end of the pull-down Bowden wire is wound on the reel B, and the winding directions of the lifting Bowden wire and the pull-down Bowden wire are opposite; the tail part of the pull-down Bowden cable comprises three branch lines which are respectively a pull-down Bowden cable hip joint branch, a pull-down Bowden cable knee joint branch and a pull-down Bowden cable ankle joint branch, the tail end of the pull-down Bowden cable hip joint branch is fixedly connected with the movable end of the pull-down hip joint sub-control device, the tail end of the pull-down Bowden cable knee joint branch is fixedly connected with the movable end of the pull-down knee joint sub-control device, and the tail end of the pull-down Bowden cable ankle joint branch is fixedly connected with the movable end of the pull-down ankle joint sub-control device.
Furthermore, the plurality of joint sub-control devices are respectively connected with the controller through corresponding current regulating circuits.
Furthermore, the joint sub-control device comprises an electromagnetic coil and a plurality of polar plates, the polar plates are distributed in parallel at a certain interval along the thickness direction of the polar plates, a magnetorheological fluid storage bag is arranged between every two adjacent polar plates and is made of high-elasticity materials, the magnetorheological fluid storage bag is fixedly connected with the joint surfaces of the two adjacent polar plates, and magnetorheological fluid is filled in the magnetorheological fluid storage bag; two adjacent polar plates form a pair of moving pairs through a supporting and guiding structure; the elastic reset structure is used for resetting and restoring the moved polar plate; the electromagnetic coil is used for generating an electromagnetic field.
Furthermore, the elasticity reset structure of joint branch accuse device includes a plurality of elastic rubber pieces, and the top along the moving direction on the adjacent bipolar plate links to each other through an elastic rubber piece, and the terminal along the moving direction on the adjacent bipolar plate links to each other through an elastic rubber piece, and the quantity of elastic rubber piece and the quantity phase-match of polar plate.
Furthermore, the number of the polar plates of the joint sub-control device is 3, and the polar plates are a first polar plate, a second polar plate and a third polar plate from bottom to top in sequence; two side surfaces of the second polar plate are symmetrically and fixedly provided with a fixed block, a first guide plate and a second guide plate, two side surfaces of the first polar plate are symmetrically and fixedly provided with a first guide block, the first guide block provides a guide groove and a limiting groove for movement for the first guide plate, two side surfaces of the third polar plate are symmetrically and fixedly provided with a second guide block, and the second guide block provides a guide groove and a limiting groove for movement for the second guide plate; the fixed block, the first guide plate and the first guide block jointly form a supporting guide structure between the first polar plate and the second polar plate; the fixed block, the second guide plate and the second guide block jointly form a supporting and guiding structure between the second polar plate and the third polar plate.
Further, the guide paths of the guide grooves on the first guide block and the second guide block of the joint sub-control device are broken line paths.
Furthermore, the joint sub-control device is provided with a plurality of electromagnetic coils, and the plurality of electromagnetic coils are distributed on the first polar plate, the second polar plate and the third polar plate.
Furthermore, the number of the electromagnetic coils of the joint sub-control device is 1, the joint sub-control device is hermetically fixed in a coil box, and the coil box is fixed on the second pole plate.
Furthermore, an overflow hole is formed in a coil box of the joint sub-control device, the overflow hole is a flowing channel of magnetorheological fluid, and the sealing effect on the electromagnetic coil is not damaged.
The invention can achieve the following beneficial effects:
1) the wearable flexible power assisting equipment only uses one motor as a power source, so that the load of a human body is greatly reduced, the carrying convenience is greatly improved, and the matching performance of the plurality of joint sub-control devices is good, so that the power assisting action is smooth, and the power assisting effect is good;
2) the joint sub-control device is relatively fixed with a human body, and the Bowden cable is connected with the movable end pole plate of the joint sub-control device, so that the separation and the connection of the tension transmission can be realized to a certain extent, and the concept of the traditional clutch is basically overturned;
3) the time required for the magnetorheological fluid of the joint sub-control device to be changed from a liquid state to a solid-like state is millisecond grade, the corresponding speed is very high, and the magnetorheological fluid is continuously reversible; only one motor is adopted for control, so that two assistance modes can be realized: the power assisting device can assist a plurality of joints in linkage and respectively assist the plurality of joints independently.
Drawings
FIG. 1 is a schematic structural view of embodiment 1 of the present invention;
FIG. 2 is a schematic structural view of embodiment 2 of the present invention;
FIG. 3 is a schematic view of embodiment 2 of the present invention different from embodiment 1;
fig. 4 is a perspective view of a first joint separation control apparatus according to embodiment 1 of the present invention;
FIG. 5 is a front view of a first joint control device according to embodiment 1 of the present invention;
FIG. 6 is a left side view of a first joint control device according to embodiment 1 of the present invention;
FIG. 7 is a cross-sectional view A-A of FIG. 5;
FIG. 8 is a cross-sectional view B-B of FIG. 6;
fig. 9 is a perspective view of a second joint sub-control apparatus according to embodiment 1 of the present invention;
FIG. 10 is a front view of a second joint control device according to embodiment 1 of the present invention;
FIG. 11 is a left side view of a second joint control device according to embodiment 1 of the present invention;
FIG. 12 is a cross-sectional view C-C of FIG. 10;
FIG. 13 is a cross-sectional view D-D of FIG. 11;
fig. 14 is a three-dimensional structural view of a second joint sub-control device in a state of hiding a magnetorheological fluid reservoir in embodiment 1 of the present invention;
fig. 15 is a perspective view showing the structural arrangement of the second pole plate, the coil box and the electromagnetic coil in the second joint sub-control device in embodiment 1 of the invention;
in the figure: 1-a first guide block, 2-a first magnetorheological fluid storage bag, 3-a fixed block, 4-a first guide plate, 5-an elastic rubber sheet, 6-a second guide block, 7-a second magnetorheological fluid storage bag, 8-a second guide plate, 9-an electromagnetic coil, 10-a sealing plate, 11-magnetorheological fluid, 12-a first polar plate, 13-a second polar plate, 14-a third polar plate, 15-a coil box and 1501-an overflow hole;
80-pull-down bowden cable hip joint separation control device, 81-motor, 82-first fixing strap, 83-lifting bowden cable hip joint branch, 84-second fixing strap, 85-lifting hip joint separation control device, 86-third fixing strap, 87-fourth fixing strap, 88-lifting bowden cable ankle joint branch, 89-lifting ankle joint separation control device, 90-fifth fixing strap, 91-lifting knee joint separation control device, 92-lifting bowden cable knee joint branch, 93-lifting bowden cable, 94-pull-down bowden cable, 95-pull-down bowden cable hip joint branch, 96-pull-down hip joint separation control device, 97-pull-down bowden cable knee joint branch, 98-pull-down knee joint separation control device, 99-pull-down bowden cable ankle joint branch.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Example 1
As shown in fig. 1, a wearable flexible power assisting device comprises a motor 81, a battery, a controller, a lifting bowden cable 93, a first fixing band 82, a second fixing band 84, a third fixing band 86, a fourth fixing band 87, a fifth fixing band 90 and 3 joint sub-control devices, wherein the 3 joint sub-control devices are a joint sub-control device 85 for lifting a hip joint, a joint sub-control device 91 for lifting a knee joint and a joint sub-control device 89 for lifting an ankle joint.
The specific structure of the joint sub-control device can be the following two mechanisms of the joint sub-control device:
the first joint sub-control device has the following structure:
as shown in fig. 4-8, the joint sub-control device includes an electromagnetic coil 9 and 3 pole plates, the 3 pole plates are distributed in parallel at a certain interval along the thickness direction, and include a first pole plate 12, a second pole plate 13 and a third pole plate 14 from bottom to top, a magnetorheological fluid storage bag is disposed between the two adjacent pole plates, and the magnetorheological fluid storage bag is made of high elastic material, such as silica gel; specifically, the magnetorheological fluid storage bag between the first polar plate 12 and the second polar plate 13 is the first magnetorheological fluid storage bag 2, and the magnetorheological fluid storage bag between the second polar plate 13 and the third polar plate 14 is the second magnetorheological fluid storage bag 7; the binding surfaces of the magnetorheological fluid storage bag and the two adjacent polar plates are fixedly cemented, and the magnetorheological fluid storage bag is filled with magnetorheological fluid 11; two adjacent polar plates form a pair of moving pairs through a supporting and guiding structure, specifically, two side surfaces of a second polar plate 13 are symmetrically and fixedly provided with a fixed block 3, a first guide plate 4 and a second guide plate 8, two side surfaces of a first polar plate 12 are symmetrically and fixedly provided with a first guide block 1, the first guide block 1 provides a guide groove and a limiting groove for moving the first guide plate 4, two side surfaces of a third polar plate 14 are symmetrically and fixedly provided with a second guide block 6, and the second guide block 6 provides a guide groove and a limiting groove for moving the second guide plate 8; the fixed block 3, the first guide plate 4 and the first guide block 1 together form a supporting guide structure between the first polar plate 12 and the second polar plate 13; the fixed block 3, the second guide plate 8 and the second guide block 6 together form a supporting and guiding structure between the second polar plate 13 and the third polar plate 14; the electrode plate reset structure comprises 2 pairs of elastic rubber sheets 5, wherein the starting ends of the adjacent two electrode plates in the moving direction are connected through one elastic rubber sheet 5, and the terminals of the adjacent two electrode plates in the moving direction are connected through one elastic rubber sheet 5; the electromagnetic coils 9 are used for generating electromagnetic fields, the number of the electromagnetic coils 9 is multiple, the electromagnetic coils 9 are distributed on the first polar plate 12, the second polar plate 13 and the third polar plate 14, and the electromagnetic coils 9 are hermetically fixed in the polar plates by adopting the sealing plates 10.
The structure of the second joint branch controller is as follows:
as shown in fig. 9-15, the joint sub-control device includes an electromagnetic coil 9 and 3 pole plates, the 3 pole plates are distributed in parallel at a certain interval along the thickness direction, and include a first pole plate 12, a second pole plate 13 and a third pole plate 14 from bottom to top, a magnetorheological fluid storage bag is disposed between the two adjacent pole plates, and the magnetorheological fluid storage bag is made of high elastic material, such as silica gel; specifically, the magnetorheological fluid storage bag between the first polar plate 12 and the second polar plate 13 is the first magnetorheological fluid storage bag 2, and the magnetorheological fluid storage bag between the second polar plate 13 and the third polar plate 14 is the second magnetorheological fluid storage bag 7; the binding surfaces of the magnetorheological fluid storage bag and the two adjacent polar plates are fixedly cemented, and the magnetorheological fluid storage bag is filled with magnetorheological fluid 11; two adjacent polar plates form a pair of moving pairs through a supporting and guiding structure, specifically, two side surfaces of a second polar plate 13 are symmetrically and fixedly provided with a fixed block 3, a first guide plate 4 and a second guide plate 8, two side surfaces of a first polar plate 12 are symmetrically and fixedly provided with a first guide block 1, the first guide block 1 provides a guide groove and a limiting groove for moving the first guide plate 4, two side surfaces of a third polar plate 14 are symmetrically and fixedly provided with a second guide block 6, and the second guide block 6 provides a guide groove and a limiting groove for moving the second guide plate 8; the fixed block 3, the first guide plate 4 and the first guide block 1 together form a supporting guide structure between the first polar plate 12 and the second polar plate 13; the fixed block 3, the second guide plate 8 and the second guide block 6 together form a supporting and guiding structure between the second polar plate 13 and the third polar plate 14; the guide paths of the guide grooves on the first guide block 1 and the second guide block 6 are broken line paths, and the arrangement of the broken line guide paths enables the joint sub-control device to have certain flexibility; the electrode plate reset structure comprises 2 pairs of elastic rubber sheets 5, wherein the starting ends of the adjacent two electrode plates in the moving direction are connected through one elastic rubber sheet 5, and the terminals of the adjacent two electrode plates in the moving direction are connected through one elastic rubber sheet 5; the electromagnetic coils 9 are used for generating electromagnetic fields, the number of the electromagnetic coils 9 is 1, the electromagnetic coils are hermetically fixed in the coil box 15, and the coil box 15 is fixed on the second polar plate 13; the coil box 15 is provided with the overflow holes 1501, the overflow holes 1501 are flow channels of the magnetorheological fluid 11, but the sealing effect on the electromagnetic coil 9 is not damaged, a person skilled in the art can design the size of the overflow holes according to actual technical parameters, and the position and the size ratio of the overflow holes 1501 in the drawing are only exemplary.
The two joint sub-controllers adopt a structure with 3 polar plates, and the number of the polar plates can be reasonably set by a person skilled in the art under the guidance of the embodiment according to the stroke size of practical application and the deformation performance of the magnetorheological fluid storage bag.
The first fixing strap 82 is used for being fixed on the waist and limbs of a human body, the second fixing strap 84 is used for being fixed on the thigh of the human body, the third fixing strap 86 is used for being fixed on the upper half part of the shank of the human body, the fourth fixing strap is used for being fixed on the lower half part of the shank of the human body, and the fifth fixing strap 90 is used for being fixed on the foot of the human body;
the motor 81, the battery and the controller are all fixed on the first fixing belt 82, and the battery is used for supplying power to the motor, the controller and the joint sub-control device; a first end polar plate of the joint sub-control device 85 for lifting the hip joint is fixed on the second fixing belt 84, a first end polar plate of the joint sub-control device 91 for lifting the knee joint is fixed on the fourth fixing belt 87, and a first end polar plate of the joint sub-control device 89 for lifting the ankle joint is fixed on the fifth fixing belt 90;
the head end of a lifting Bowden wire 93 is wound on a winding wheel, the winding wheel is fixedly connected with an output shaft of the motor 81, the tail part of the lifting Bowden wire 93 comprises three branch wires which are respectively a lifting Bowden wire hip joint branch 83, a lifting Bowden wire knee joint branch 92 and a lifting Bowden wire ankle joint branch 88, the tail end of the lifting Bowden wire hip joint branch 83 is fixedly connected with a second end polar plate of the lifting hip joint sub-control device 85, the tail end of the lifting Bowden wire knee joint branch 92 is fixedly connected with a second end polar plate of the lifting knee joint sub-control device 91, and the tail end of the lifting Bowden wire ankle joint branch 88 is fixedly connected with a second end polar plate of the lifting ankle joint sub-control device 89; the lifting bowden cable knee joint branch 92 is provided with an anchor point on the second securing strap 84, and the lifting bowden cable ankle joint branch 88 is provided with an anchor point on the third securing strap 86; when in use, the joint sub-control device 85 for lifting the hip joint is fixed on the front side of the thigh of the human body, the joint sub-control device 91 for lifting the knee joint is fixed on the back side of the shank of the human body, and the joint sub-control device 89 for lifting the ankle joint is fixed on the foot close to the sole;
the 3 joint sub-control devices are respectively connected with the controller through corresponding current adjusting circuits.
Example 2
As shown in fig. 2 and 3, a wearable flexible power assisting device includes a motor 81, a battery, a controller, a lifting bowden cable 93, a pulling-down bowden cable 94, a first fixing band 82, a second fixing band 84, a third fixing band 86, a fourth fixing band 87, a fifth fixing band 90 and 6 joint sub-control devices, wherein the 6 joint sub-control devices are a hip-joint-lifting joint sub-control device 85, a knee-joint-lifting joint sub-control device 91, an ankle-lifting joint sub-control device 89, a pulling-down hip-joint sub-control device 96, a knee-joint-pulling down joint sub-control device 98 and a pulling-down ankle-joint sub-control device 80, respectively.
The specific structure of the joint sub-control device is the same as that of the two joint sub-control devices in embodiment 1.
The first fixing strap 82 is used for being fixed on the waist and limbs of a human body, the second fixing strap 84 is used for being fixed on the thigh of the human body, the third fixing strap 86 is used for being fixed on the upper half part of the shank of the human body, the fourth fixing strap is used for being fixed on the lower half part of the shank of the human body, and the fifth fixing strap 90 is used for being fixed on the foot of the human body;
the motor 81, the battery and the controller are all fixed on the first fixing belt 82, and the battery is used for supplying power to the motor, the controller and the joint sub-control device; a first end polar plate of the joint sub-control device 85 for lifting the hip joint is fixed on the second fixing belt 84, a first end polar plate of the joint sub-control device 91 for lifting the knee joint is fixed on the fourth fixing belt 87, and a first end polar plate of the joint sub-control device 89 for lifting the ankle joint is fixed on the fifth fixing belt 90;
the head end of a lifting Bowden wire 93 is wound on a winding wheel, the winding wheel is fixedly connected with an output shaft of the motor 81, the tail part of the lifting Bowden wire 93 comprises three branch wires which are respectively a lifting Bowden wire hip joint branch 83, a lifting Bowden wire knee joint branch 92 and a lifting Bowden wire ankle joint branch 88, the tail end of the lifting Bowden wire hip joint branch 83 is fixedly connected with a second end polar plate of the lifting hip joint sub-control device 85, the tail end of the lifting Bowden wire knee joint branch 92 is fixedly connected with a second end polar plate of the lifting knee joint sub-control device 91, and the tail end of the lifting Bowden wire ankle joint branch 88 is fixedly connected with a second end polar plate of the lifting ankle joint sub-control device 89; the lifting bowden cable knee joint branch 92 is provided with an anchor point on the second securing strap 84, and the lifting bowden cable ankle joint branch 88 is provided with an anchor point on the third securing strap 86; when in use, the joint sub-control device 85 for lifting the hip joint is fixed on the front side of the thigh of the human body, the joint sub-control device 91 for lifting the knee joint is fixed on the back side of the shank of the human body, and the joint sub-control device 89 for lifting the ankle joint is fixed on the foot close to the sole;
a first end polar plate of the joint sub-control device 96 for the pull-down hip joint is fixed on the second fixing band 84, a first end polar plate of the joint sub-control device 98 for the pull-down knee joint is fixed on the fourth fixing band 87, and a first end polar plate of the joint sub-control device 80 for the pull-down ankle joint is fixed on the fifth fixing band 90; the reel comprises a reel A and a reel B which are coaxially and fixedly connected in series, the head end of the lifting Bowden wire 93 is wound on the reel A, the head end of the pulling-down Bowden wire 94 is wound on the reel B, and the winding directions of the lifting Bowden wire 93 and the pulling-down Bowden wire 94 are opposite; the tail of the pull-down bowden cable 94 comprises three branch lines, namely a pull-down bowden cable hip joint branch 95, a pull-down bowden cable knee joint branch 97 and a pull-down bowden cable ankle joint branch 99, the tail end of the pull-down bowden cable hip joint branch 95 is fixedly connected with a second end polar plate of the pull-down hip joint sub-control device 96, the tail end of the pull-down bowden cable knee joint branch 97 is fixedly connected with a second end polar plate of the pull-down knee joint sub-control device 98, and the tail end of the pull-down bowden cable ankle joint branch 99 is fixedly connected with a second end polar plate of the pull-down ankle joint sub-control device 80; the lower bowden cable knee joint branch 97 is provided with an anchoring point on the second fixing strap 84, and the lower bowden cable ankle joint branch 99 is provided with an anchoring point on the fourth fixing strap 87; when in use, the joint sub-control device 96 for the pull-down hip joint is fixed on the back of the thigh of a human body, the joint sub-control device 98 for the pull-down knee joint is fixed on the front of the shank of the human body, and the joint sub-control device 80 for the pull-down ankle joint is fixed on the position of the foot close to the heel;
the 6 joint sub-control devices are respectively connected with the controller through corresponding current adjusting circuits.
Principle of the above embodiment:
1) the magnetorheological fluid is a suspension formed by mixing micro soft magnetic particles with high magnetic conductivity and low magnetic hysteresis and non-magnetic conductive liquid; under the condition of zero magnetic field, the suspension liquid is a liquid with good fluidity and small apparent viscosity; under the action of strong magnetic field, the apparent viscosity can be increased by more than two orders of magnitude in a short time (millisecond level), and the change is continuous and reversible, namely the change is recovered to the original state after the magnetic field is removed;
2) the on-off and the intensity of the on-off current of each joint sub-control device are regulated and controlled by the controller and each current regulating circuit, so that the magnetorheological fluid 11 in each joint sub-control device is in different states: low viscosity liquid state, high viscosity liquid state and solid-like state;
when the magnetorheological fluid is in a low-viscosity liquid state, the Bowden cable connected with the magnetorheological fluid is pulled, the joint sub-control device can act due to the traction force, and the traction force required by the action of the joint sub-control device is smaller; when the magnetorheological fluid is in a high-viscosity liquid state, the Bowden cable connected with the magnetorheological fluid is pulled, the joint sub-control device can act due to traction force, and the traction force required by the action of the joint sub-control device is larger; when the magnetorheological fluid is in a solid-like state, the Bowden cable connected with the magnetorheological fluid is pulled, and the joint sub-control device basically cannot act due to the traction force; after the traction force of the Bowden cable is cancelled, the joint sub-control device returns to the original state through the elastic resetting structure of the joint sub-control device;
explanation is given by taking the control of the assisting force of the knee joint in the lifting motion as an example:
when the magnetorheological fluid 11 in the joint sub-control device 91 for lifting the knee joint is in a low-viscosity liquid state, the winding of the lifting Bowden wire 93 can pull and lift the second end polar plate of the joint sub-control device 91 for lifting the knee joint, and the joint sub-control device 91 for lifting the knee joint acts, so that the knee joint does not have any help for the bending action of the knee joint of the human body;
when the magnetorheological fluid 11 in the joint sub-control device 91 for lifting the knee joint is in a solid-like state, the winding of the lifting bowden cable 93 can pull and lift the second end polar plate of the joint sub-control device 91 for lifting the knee joint, and the joint sub-control device 91 for lifting the knee joint does not act, so that the power assisting effect of bending the knee joint of the human body is exerted;
therefore, the power-on/off and the power-on current strength of each joint sub-control device can be regulated, and the two bowden cable buses can be controlled by one motor 81 so as to respectively control the boosting strength of the action of each joint.
3) The motor 81 rotates positively, the lifting Bowden cable 93 is wound on the reel A, and the pulling Bowden cable 94 is unwound on the reel B; the motor is reversed, the lifting bowden cable 93 is unwound from the reel a, and the pulling bowden cable 94 is wound on the reel B.
Advantages of the above embodiment:
1) the assistance to a plurality of joints is controlled by one motor;
2) by controlling the state of each joint sub-control device, the power assistance to a plurality of joints can be linked and can act respectively;
3) only one motor is used, so that the weight of a human body is greatly reduced, and the carrying convenience is greatly improved.
In the description of the present invention, words such as "inner", "outer", "upper", "lower", "front", "rear", etc., indicating orientations or positional relationships, are used for convenience in describing the present invention, and do not indicate or imply that the indicated devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
The above description is only one embodiment of the present invention, and the scope of the present invention is not limited to the above embodiments, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the spirit of the present invention.
Claims (10)
1. The utility model provides a flexible helping hand of wearing formula is equipped which characterized by: the device comprises a motor (81), a battery, a controller, a lifting Bowden wire (93), a first fixing belt (82), a second fixing belt (84), a fourth fixing belt (87), a fifth fixing belt (90) and a plurality of joint sub-control devices, wherein the joint sub-control devices are a joint sub-control device (85) for lifting a hip joint, a joint sub-control device (91) for lifting a knee joint and a joint sub-control device (89) for lifting an ankle joint;
the first fixing strap (82) is used for being fixed on the waist and limbs of a human body, the second fixing strap (84) is used for being fixed on the thigh of the human body, the fourth fixing strap is used for being fixed on the calf of the human body, and the fifth fixing strap (90) is used for being fixed on the foot of the human body;
the motor (81), the battery and the controller are all fixed on the first fixing belt (82), and the battery is used for supplying power to the motor, the controller and the joint sub-control device; the joint sub-control device (85) for lifting the hip joint is fixed on the second fixing strap (84), the joint sub-control device (91) for lifting the knee joint is fixed on the fourth fixing strap (87), and the joint sub-control device (89) for lifting the ankle joint is fixed on the fifth fixing strap (90);
the head end of a lifting Bowden wire (93) is wound on a winding wheel, the winding wheel is fixedly connected with an output shaft of a motor (81), the tail part of the lifting Bowden wire (93) comprises three branch lines which are respectively a lifting Bowden wire hip joint branch (83), a lifting Bowden wire knee joint branch (92) and a lifting Bowden wire ankle joint branch (88), the tail end of the lifting Bowden wire hip joint branch (83) is fixedly connected with the movable end of a lifting hip joint sub-control device (85), the tail end of the lifting Bowden wire knee joint branch (92) is fixedly connected with the movable end of a lifting knee joint sub-control device (91), and the tail end of the lifting Bowden wire ankle joint branch (88) is fixedly connected with the movable end of a lifting ankle joint sub-control device (89).
2. The wearable flexible power assist apparatus of claim 1, wherein: the joint sub-control device comprises a pull-down Bowden wire (94), a pull-down hip joint sub-control device (96), a pull-down knee joint sub-control device (98) and a pull-down ankle joint sub-control device (80); the joint sub-control device (96) for the pull-down hip joint is fixed on the second fixing strap (84), the joint sub-control device (98) for the pull-down knee joint is fixed on the fourth fixing strap (87), and the joint sub-control device (80) for the pull-down ankle joint is fixed on the fifth fixing strap (90); the reel comprises a reel A and a reel B which are coaxially and fixedly connected in series, the head end of the lifting Bowden wire (93) is wound on the reel A, the head end of the pulling-down Bowden wire (94) is wound on the reel B, and the winding directions of the lifting Bowden wire (93) and the pulling-down Bowden wire (94) are opposite; the tail part of the pull-down Bowden cable (94) comprises three branch lines which are a pull-down Bowden cable hip joint branch (95), a pull-down Bowden cable knee joint branch (97) and a pull-down Bowden cable ankle joint branch (99), the tail end of the pull-down Bowden cable hip joint branch (95) is fixedly connected with the movable end of the pull-down hip joint sub-control device (96), the tail end of the pull-down Bowden cable knee joint branch (97) is fixedly connected with the movable end of the pull-down knee joint sub-control device (98), and the tail end of the pull-down Bowden cable ankle joint branch (99) is fixedly connected with the movable end of the pull-down ankle joint sub-control device (80).
3. A wearable flexible power assist apparatus as claimed in claim 1 or claim 2, wherein: the joint sub-control devices are respectively connected with the controller through corresponding current adjusting circuits.
4. The wearable flexible power assist apparatus of claim 1, wherein: the joint sub-control device comprises an electromagnetic coil (9) and a plurality of polar plates, the polar plates are distributed in parallel at a certain interval along the thickness direction of the polar plates, a magnetorheological fluid storage bag is arranged between every two adjacent polar plates and is made of high-elasticity materials, the magnetorheological fluid storage bag is fixedly connected with the joint surfaces of the two adjacent polar plates, and magnetorheological fluid (11) is filled in the magnetorheological fluid storage bag; two adjacent polar plates form a pair of moving pairs through a supporting and guiding structure; the elastic reset structure is used for resetting and restoring the moved polar plate; the electromagnetic coil (9) is used for generating an electromagnetic field.
5. The wearable flexible power assist apparatus of claim 1, wherein: the joint divides the elasticity of accuse device to reset the structure and includes a plurality of elastic rubber pieces (5), and the top along the moving direction on the adjacent bipolar plate links to each other through an elastic rubber piece (5), and the terminal along the moving direction on the adjacent bipolar plate links to each other through an elastic rubber piece (5), and the quantity of elastic rubber piece (5) and the quantity phase-match of polar plate.
6. The wearable flexible power assist apparatus of claim 1, wherein: the number of the polar plates of the joint sub-control device is 3, and the polar plates are a first polar plate (12), a second polar plate (13) and a third polar plate (14) from bottom to top in sequence; two side surfaces of the second polar plate (13) are symmetrically and fixedly provided with a fixed block (3), a first guide plate (4) and a second guide plate (8), two side surfaces of the first polar plate (12) are symmetrically and fixedly provided with first guide blocks (1), the first guide blocks (1) provide guide grooves and limiting grooves for movement for the first guide plates (4), two side surfaces of the third polar plate (14) are symmetrically and fixedly provided with second guide blocks (6), and the second guide blocks (6) provide guide grooves and limiting grooves for movement for the second guide plates (8); the fixed block (3), the first guide plate (4) and the first guide block (1) jointly form a supporting guide structure between the first polar plate (12) and the second polar plate (13); the fixed block (3), the second guide plate (8) and the second guide block (6) jointly form a supporting and guiding structure between the second polar plate (13) and the third polar plate (14).
7. The wearable flexible power assist apparatus of claim 6, wherein: the guide paths of the guide grooves on the first guide block (1) and the second guide block (6) of the joint sub-control device are broken line paths.
8. The wearable flexible power assist apparatus of claim 6, wherein: the joint sub-control device is characterized in that the number of the electromagnetic coils (9) is multiple, and the electromagnetic coils (9) are distributed on the first polar plate (12), the second polar plate (13) and the third polar plate (14).
9. The wearable flexible power assist apparatus of claim 6, wherein: the joint sub-control device is characterized in that the number of the electromagnetic coils (9) is 1, the electromagnetic coils are hermetically fixed in a coil box (15), and the coil box (15) is fixed on the second polar plate (13).
10. The wearable flexible power assist apparatus of claim 9, wherein: an overflow hole (1501) is formed in a coil box (15) of the joint sub-control device, the overflow hole (1501) is a flow channel of magnetorheological fluid (11), and the sealing effect on the electromagnetic coil (9) is not damaged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020698170.2U CN212044725U (en) | 2020-04-30 | 2020-04-30 | Flexible helping hand of wearing formula is equipped |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020698170.2U CN212044725U (en) | 2020-04-30 | 2020-04-30 | Flexible helping hand of wearing formula is equipped |
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| Publication Number | Publication Date |
|---|---|
| CN212044725U true CN212044725U (en) | 2020-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020698170.2U Active CN212044725U (en) | 2020-04-30 | 2020-04-30 | Flexible helping hand of wearing formula is equipped |
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| Country | Link |
|---|---|
| CN (1) | CN212044725U (en) |
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