CN214055255U - Damping structure for preventing exoskeleton robot from toppling over - Google Patents
Damping structure for preventing exoskeleton robot from toppling over Download PDFInfo
- Publication number
- CN214055255U CN214055255U CN202022071673.XU CN202022071673U CN214055255U CN 214055255 U CN214055255 U CN 214055255U CN 202022071673 U CN202022071673 U CN 202022071673U CN 214055255 U CN214055255 U CN 214055255U
- Authority
- CN
- China
- Prior art keywords
- spring
- connecting piece
- fixedly connected
- damping
- wall
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The utility model discloses an anti-toppling damping structure of an exoskeleton robot, which comprises a bracket, wherein the top of the bracket is fixedly connected with shoulder straps, the top of the bracket is symmetrically provided with two shoulder bearing frames, the bottom side wall of the bracket is symmetrically and fixedly provided with a first cross rod and a second cross rod in a penetrating way, two ends of the first cross rod and the second cross rod are fixedly connected with two waist connecting rods together, the outer wall of each waist connecting rod is rotatably connected with a hip connecting piece, and a thigh mechanism is arranged below the hip connecting piece; the utility model discloses a damping mechanism's setting, because of centrobaric change, thigh mechanism and hip connecting piece can receive a power to the right slope to through first jaw pulling movable rod, make the movable block compress the second spring, utilize the elasticity production of second spring to resist the damping that upper body part heeled, in order to play the effect of two balanced shoulder areas pressure, thereby reduce the risk that the phenomenon appears empting when using of wearing person.
Description
Technical Field
The utility model relates to an ectoskeleton robot specifically is an anti-dumping damping structure of ectoskeleton robot.
Background
Since the 20 th century and the 60 th century, exoskeletons have been developed and shifted from military fields to civil markets, and are mainly used for medical treatment and industrial production, and are currently developed in the direction of stronger load bearing capacity and higher control force and flexibility as auxiliary tools for helping disabled people walk and workers to carry out manufacturing and carrying tasks under load. At present, research on exoskeletons by scientific research institutions of most countries is still in the basic starting stage, commercial products are still few, the main application fields are military, civil and medical treatment, wherein the leading countries are mainly America and Japan, Law, Russia, Korea, Israel and other countries are technically established, and research and development mechanisms of the countries are also encouraged.
The development of the exoskeleton is integrated with a human-electromechanical system of advanced control, information, communication and other technologies, on the basis of providing functions such as protection, body support and the like for an operator, additional power or capacity is provided for the wearer by integrating advanced technologies such as sensing, control, information coupling, mobile computing and the like, so that the functions of the human body are enhanced, certain functions and tasks can be completed under the control of the operator, a human machine is integrated into a super-intelligent body with the power of a machine and the intelligence of the human, and the enhancement of the power and the extension of the sense organ are realized.
However, in the conventional exoskeleton robot, when the left leg is lifted during the walking with a load, the upper body part of the exoskeleton robot is inevitably inclined to the left side due to the change of the center of gravity of the whole body, and similarly, the upper body part of the exoskeleton robot also inclines to the right side, so that the body balance of a wearer is seriously affected, and the wearer is easy to topple over when in use.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an exoskeleton robot prevents empting damping structure to solve the problem that proposes among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme:
the top of the support is fixedly connected with shoulder straps, the top of the support is symmetrically provided with two shoulder bearing frames, the bottom side wall of the support is symmetrically and fixedly provided with a first cross rod and a second cross rod in a penetrating mode, two ends of the first cross rod and the second cross rod are fixedly connected with two waist connecting rods together, the outer wall of each waist connecting rod is rotatably connected with a hip connecting piece, a thigh mechanism is arranged below the hip connecting piece, the outer wall of the thigh mechanism is fixedly connected with a connecting plate, the top end of the connecting plate is hinged to the hip connecting piece, and the thigh mechanism and the outer wall of the hip connecting piece are hinged to a damping mechanism together.
As a further aspect of the present invention: damping mechanism includes the sleeve pipe, sheathed tube inner wall sliding connection has the movable block, sheathed tube top is provided with first spring, the bottom fixedly connected with movable rod of movable block, the sheathed tube inner wall is run through to the bottom of movable rod, the movable rod is located the inside outer wall activity of sleeve pipe and has cup jointed the second spring.
As a further aspect of the present invention: the first spring and the second spring are both in a compressed state.
As a further aspect of the present invention: the elastic coefficient of the second spring is larger than that of the first spring.
As a further aspect of the present invention: the bottom end of the movable rod penetrates through the inner wall of the sleeve and then is fixedly connected with a first fork, the damping mechanism is hinged with the thigh mechanism through the first fork, the top of the sleeve is fixedly connected with a second fork, and the damping mechanism is hinged with the hip connecting piece through the second fork.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model discloses a damping mechanism's setting, at the in-process that the heavy burden removed, because of centrobaric change, thigh mechanism and hip connecting piece can receive a power to the right bank to through first jaw pulling movable rod, make the movable block compress the second spring, utilize the elasticity production of second spring to resist the damping that upper body part heeled, in order to play the effect of two balanced shoulder areas pressure, thereby reduce the risk that the phenomenon appears empting when using of wearing person.
2. The utility model discloses a setting of hip connecting piece, utilize the rotation of hip connecting piece and waist connecting rod to be connected, and the articulated of hip connecting piece and connecting plate and damping mechanism, make the back of dressing, thigh mechanism can hip connecting piece and waist connecting rod's axis of rotation carry out the swing back and forth as the centre of a circle, and simultaneously, thigh mechanism also can and carry out the side direction swing between the hip connecting piece, setting through first spring and second spring, make the movable block under the drive of movable rod, can reciprocate in the cover intraductal, thereby avoid causing the interference to the side direction swing between thigh mechanism and the hip connecting piece.
Drawings
Fig. 1 is a schematic structural diagram of an exoskeleton robot.
Fig. 2 is a schematic structural diagram of an anti-toppling damping structure of an exoskeleton robot.
Fig. 3 is a schematic structural diagram of a hip link in an exoskeleton robot anti-toppling damping structure.
Fig. 4 is a schematic structural diagram of a damping mechanism in an anti-toppling damping structure of an exoskeleton robot.
The device comprises a support 1, a first cross bar 2, a second cross bar 3, a shoulder belt 4, a shoulder bearing frame 5, a waist connecting rod 6, a hip connecting piece 7, a thigh mechanism 8, a damping mechanism 9, a connecting plate 10, a sleeve 11, a movable block 12, a movable rod 13, a first spring 14, a second spring 15, a first fork 16 and a second fork 17.
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.
Referring to fig. 1 to 4, in an embodiment of the present invention, an exoskeleton robot anti-toppling damping structure includes a support 1, a shoulder strap 4 is fixedly connected to the top of the support 1, two shoulder bearing frames 5 are symmetrically disposed on the top of the support 1, a first cross rod 2 and a second cross rod 3 are symmetrically and fixedly arranged on the bottom side wall of the support 1 in a penetrating manner, two waist connecting rods 6 are fixedly connected to the two ends of the first cross rod 2 and the second cross rod 3, a hip connecting member 7 is rotatably connected to the outer wall of the waist connecting rod 6, a thigh mechanism 8 is disposed below the hip connecting member 7, a connecting plate 10 is fixedly connected to the outer wall of the thigh mechanism 8, the top end of the connecting plate 10 is hinged to the hip connecting member 7, and a damping mechanism 9 is hinged to the outer wall of the thigh mechanism 8 and the hip connecting.
The first spring 14 and the second spring 15 are both in a compressed state.
The elastic coefficient of the second spring 15 is larger than that of the first spring 14.
The bottom end of the movable rod 13 penetrates through the inner wall of the sleeve 11 and then is fixedly connected with a first fork 16, the damping mechanism 9 is hinged with the thigh mechanism 8 through the first fork 16, the top of the sleeve 11 is fixedly connected with a second fork 17, and the damping mechanism 9 is hinged with the hip connecting piece 7 through the second fork 17.
The utility model discloses a theory of operation is:
the utility model discloses a hip connecting piece 7's setting utilizes hip connecting piece 7 to be connected with waist connecting rod 6's rotation, and hip connecting piece 7 and connecting plate 10 and damping mechanism 9's articulated for after the dress, thigh mechanism 8 can be carried out the swing back and forth for the centre of a circle with hip connecting piece 7 and waist connecting rod 6's axis of rotation, simultaneously, thigh mechanism 8 also can and carry out the side direction swing between hip connecting piece 7.
When the wearer lifts the right leg after the shoulder weight rack 5 bears a load, the upper body part inevitably inclines towards the left side due to the change of the gravity center, at this time, the left shoulder belt 4 is in a relatively loose state, the right shoulder belt 4 is in a relatively tensed state, and the thigh mechanism 8 and the hip connecting piece 7 are subjected to a force of inclining towards the right side, so that the movable rod 13 is pulled through the first fork 16, the movable block 12 compresses the second spring 15, and the elasticity of the second spring 15 generates a damping force resisting the inclination of the upper body part, so as to balance the action of the two shoulder belt pressures, thereby reducing the risk of the wearer falling down when in use.
The utility model discloses a setting of first spring 14 and second spring 15 for movable block 12 can reciprocate in sleeve pipe 11 under the drive of movable rod 13, thereby avoids causing the interference to the sidesway swing between thigh mechanism 8 and the hip connecting piece 7.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (5)
1. The utility model provides an ectoskeleton robot prevents empting damping structure, includes support (1), its characterized in that: the novel waist support is characterized in that shoulder straps (4) are fixedly connected to the top of the support (1), two shoulder bearing frames (5) are symmetrically arranged on the top of the support (1), a first cross rod (2) and a second cross rod (3) are symmetrically and fixedly arranged on the side wall of the bottom of the support (1) in a penetrating mode, two waist connecting rods (6) are fixedly connected to the two ends of the first cross rod (2) and the second cross rod (3) together, a hip connecting piece (7) is rotatably connected to the outer wall of each waist connecting rod (6), a thigh mechanism (8) is arranged below the hip connecting piece (7), a connecting plate (10) is fixedly connected to the outer wall of each thigh mechanism (8), the top end of the connecting plate (10) is hinged to the hip connecting piece (7), and damping mechanisms (9) are hinged to the outer walls of the thigh mechanisms (8) and the hip connecting piece (7) together.
2. The exoskeleton robot anti-toppling damping structure of claim 1, wherein: damping mechanism (9) are including sleeve pipe (11), the inner wall sliding connection of sleeve pipe (11) has movable block (12), the top of sleeve pipe (11) is provided with first spring (14), the bottom fixedly connected with movable rod (13) of movable block (12), the inner wall of sleeve pipe (11) is run through to the bottom of movable rod (13), second spring (15) have been cup jointed in the outer wall activity that movable rod (13) are located sleeve pipe (11) inside.
3. The exoskeleton robot anti-toppling damping structure of claim 2, wherein: the first spring (14) and the second spring (15) are both in a compressed state.
4. The exoskeleton robot anti-toppling damping structure of claim 3, wherein: the elastic coefficient of the second spring (15) is greater than the elastic coefficient of the first spring (14).
5. The exoskeleton robot anti-toppling damping structure of claim 2, wherein: the bottom end of the movable rod (13) penetrates through the inner wall of the sleeve (11) and then is fixedly connected with a first fork head (16), the damping mechanism (9) is hinged to the thigh mechanism (8) through the first fork head (16), the top of the sleeve (11) is fixedly connected with a second fork head (17), and the damping mechanism (9) is hinged to the hip connecting piece (7) through the second fork head (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022071673.XU CN214055255U (en) | 2020-09-19 | 2020-09-19 | Damping structure for preventing exoskeleton robot from toppling over |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022071673.XU CN214055255U (en) | 2020-09-19 | 2020-09-19 | Damping structure for preventing exoskeleton robot from toppling over |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214055255U true CN214055255U (en) | 2021-08-27 |
Family
ID=77395986
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022071673.XU Active CN214055255U (en) | 2020-09-19 | 2020-09-19 | Damping structure for preventing exoskeleton robot from toppling over |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214055255U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112621727A (en) * | 2020-12-28 | 2021-04-09 | 上海傲鲨智能科技有限公司 | Enhanced lower limb exoskeleton robot load walking balance system and balance method |
-
2020
- 2020-09-19 CN CN202022071673.XU patent/CN214055255U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112621727A (en) * | 2020-12-28 | 2021-04-09 | 上海傲鲨智能科技有限公司 | Enhanced lower limb exoskeleton robot load walking balance system and balance method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103200919B (en) | Wearable motion assistance device | |
| CN106659630A (en) | Movement assistance device | |
| CN205626419U (en) | Walking auxiliary stand can bear a burden | |
| CN205867054U (en) | Lower limbs of human body ectoskeleton with return power structure | |
| CN110125908B (en) | Labor-saving walking aid without external power input | |
| CN214055255U (en) | Damping structure for preventing exoskeleton robot from toppling over | |
| CN112192549A (en) | Enhanced lower limb exoskeleton robot system | |
| JP2020505147A (en) | Telescopic single leg portable work chair | |
| CN113397923A (en) | Integrated upper limb and waist passive power assisting exoskeleton | |
| CN107088140B (en) | A kind of built-in air-pressure type wearable lower limb auxiliary device | |
| CN211433997U (en) | Unpowered flexible walking aid | |
| CN105560018A (en) | Self-weight pneumatic type power-assisted human skeleton | |
| CN107397653A (en) | A kind of flexible knee joint power-assisted convalescence device based on lasso trick transmission | |
| CN110801373A (en) | Unpowered flexible walking aid | |
| CN112621727A (en) | Enhanced lower limb exoskeleton robot load walking balance system and balance method | |
| CN210757712U (en) | Upper limb lifting power assisting device | |
| CN107363811B (en) | Exoskeleton lower limb and wearable robot | |
| CN210757711U (en) | Upper limb lifting power assisting device | |
| CN214772035U (en) | Waist and abdomen assisting exoskeleton | |
| CN109528440B (en) | Lower limb exoskeleton ankle joint based on telecentric mechanism | |
| CN205005956U (en) | Human helping hand undershirt | |
| CN110584700B (en) | Lead garment wearing and walking device and using method | |
| CN214049614U (en) | Hip multi-angle moving structure of exoskeleton robot | |
| CN210301649U (en) | Combined type ectoskeleton robot | |
| CN113230041A (en) | Function combination formula first aid knapsack |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |