CN109760026A - Hip mechanism for wearable ectoskeleton - Google Patents
Hip mechanism for wearable ectoskeleton Download PDFInfo
- Publication number
- CN109760026A CN109760026A CN201910195252.7A CN201910195252A CN109760026A CN 109760026 A CN109760026 A CN 109760026A CN 201910195252 A CN201910195252 A CN 201910195252A CN 109760026 A CN109760026 A CN 109760026A
- Authority
- CN
- China
- Prior art keywords
- hip
- pin shaft
- backboard
- nitrogen gas
- hinge
- 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.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 79
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims abstract description 36
- 210000002445 nipple Anatomy 0.000 claims abstract description 36
- 210000001624 hip Anatomy 0.000 claims abstract description 35
- 229910001873 dinitrogen Inorganic materials 0.000 claims abstract description 34
- 210000004394 hip joint Anatomy 0.000 claims abstract description 20
- 210000002414 leg Anatomy 0.000 claims abstract description 17
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 27
- 239000010949 copper Substances 0.000 claims description 27
- 229910052802 copper Inorganic materials 0.000 claims description 27
- 239000000956 alloy Substances 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 5
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 3
- 229910052799 carbon Inorganic materials 0.000 claims description 3
- 239000002131 composite material Substances 0.000 claims description 3
- 239000000835 fiber Substances 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
- 229910000831 Steel Inorganic materials 0.000 claims 1
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 claims 1
- 239000010959 steel Substances 0.000 claims 1
- 239000010936 titanium Substances 0.000 claims 1
- 229910052719 titanium Inorganic materials 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 14
- 230000005484 gravity Effects 0.000 abstract description 5
- 229910001069 Ti alloy Inorganic materials 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229910052757 nitrogen Inorganic materials 0.000 description 1
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- Prostheses (AREA)
Abstract
The invention discloses a kind of hip mechanisms for wearable ectoskeleton, including backboard mechanism (100), nitrogen gas spring mechanism (200) and cating nipple (300), nitrogen gas spring mechanism (200) is set on backboard mechanism (100), and cating nipple (300) is connect with nitrogen gas spring mechanism (200).The present invention is internally provided with pin shaft and spring mechanism, and left and right hip joint can be rotated around pin shaft, automatically adjusts hip width；Due to the effect of spring mechanism, so that two hip joints can follow the posture adjust automatically posture of wearer, gravity balance is kept, and promotes wearing experience.It is provided with nitrogen gas spring counterbalance mechanism, can be compressed, so that hip mechanism can play the role of balancing back load with the activity of opposed legs mechanism.It is provided with cating nipple, can be realized bigger scope of activities, and ectoskeleton is folded, convenient transportation.
Description
Technical field
The present invention relates to exoskeleton robot field, the hip mechanism of more particularly, to wearable ectoskeleton.
Background technique
With the continuous development of exoskeleton robot technology, exoskeleton robot using more and more extensive, in medical health
The fields such as multiple, army all constantly have new product to emerge in large numbers.The form of ectoskeleton is varied, and wherein the performance of hip mechanism is to wearing
The experience of person has very important influence.
Summary of the invention
The purpose of the present invention is to overcome the shortcomings of the existing technology, provides a kind of hip machine for wearable ectoskeleton
Structure is internally provided with pin shaft and spring mechanism, and left and right hip joint can be rotated around pin shaft, automatically adjusts hip width；Due to spring
The effect of mechanism keeps gravity balance, and promote wearing so that two hip joints can follow the posture adjust automatically posture of wearer
Experience.It is provided with nitrogen gas spring counterbalance mechanism, can be compressed, so that hip mechanism can be played flat with the activity of opposed legs mechanism
The effect for the back load that weighs.It is provided with cating nipple, can be realized bigger scope of activities, and ectoskeleton is rolled over
It is folded, convenient transportation.
The purpose of the present invention is achieved through the following technical solutions: for the hip mechanism of wearable ectoskeleton, packet
Backboard mechanism, nitrogen gas spring mechanism and cating nipple are included, nitrogen gas spring mechanism is set in backboard mechanism, cating nipple and nitrogen
The connection of gas spring mechanism；Backboard mechanism includes front backboard and rear portion backboard, and design has machinery on front backboard and rear portion backboard
Limit, backboard mechanism are equipped with pin shaft A, and left hip joint is connect by pin shaft plug with pin shaft A with one end of right hip joint；Left hip
Joint is passed through on right spring and front backboard by the fixed pin connection of left spring on left spring and front backboard, right hip joint
Right spring fixing pin connection；Cating nipple includes left cating nipple and right cating nipple.
Further, nitrogen gas spring mechanism includes elastic buffer part.
Further, nitrogen gas spring mechanism and cating nipple tiled configuration are symmetrical.
Further, elastic buffer part includes left nitrogen gas spring and right nitrogen gas spring.
Further, cating nipple and nitrogen gas spring mechanism connection type include hinged.
Further, front backboard and rear portion backboard are made of high-strength material.
Further, high-strength material includes one of aluminum alloy materials, carbon fibre composite and titanium alloy material.
Further, pin shaft A outer layer is equipped with copper sheathing.
Further, copper sheathing outer layer is additionally provided with copper backing.
Further, left cating nipple is equipped with left copper post, and right cating nipple is equipped with right copper post, when wearer thinks
Left hip outreach, interior time receiving are wanted, left copper post and right copper post and nitrogen gas spring mechanism interact.
Further, left hinge, left middle hinge, left leg connector, pin shaft B, pin are additionally provided on left cating nipple
Axis C and pin shaft D；Right hinge, right middle hinge, right leg connector, pin shaft E, pin shaft F and pin are additionally provided on right cating nipple
Axis G；Left hinge and left copper post form first axle, and left middle hinge and pin shaft B form second hinge, left leg connector and pin
Axis D forms third hinge；Right hinge and right copper post form the 4th hinge, and right middle hinge and pin shaft E form the 5th hinge, right leg
Portion's connector and pin shaft G form the 6th hinge.
The beneficial effects of the present invention are: being internally provided with pin shaft and spring mechanism, left and right hip joint can be rotated around pin shaft, from
It is dynamic to adjust hip width；Due to the effect of spring mechanism, so that two hip joints can follow the posture adjust automatically posture of wearer,
Gravity balance is kept, and promotes wearing experience.It is provided with nitrogen gas spring counterbalance mechanism, can be compressed, so that hip mechanism can be with
The activity of opposed legs mechanism is played the role of balancing back load.It is provided with cating nipple, can be realized bigger movable model
It encloses, and ectoskeleton is folded, convenient transportation.
Detailed description of the invention
Fig. 1 is the axonometric drawing of hip mechanism.
Fig. 2 is the side view of hip mechanism.
Fig. 3 is the axonometric drawing of backboard mechanism.
Fig. 4 is the backboard mechanism rearview for concealing rear portion backboard.
Fig. 5 is pin framework cross-sectional view.
Fig. 6 is nitrogen gas spring mechanism map.
Fig. 7 is cating nipple axonometric drawing.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing, but protection scope of the present invention is not limited to
It is as described below.
As shown in figs. 1-7, for the hip mechanism of wearable ectoskeleton, including backboard mechanism 100, nitrogen gas spring mechanism
200 and cating nipple 300, nitrogen gas spring mechanism 200 is set in backboard mechanism 100, cating nipple 300 and nitrogen gas spring machine
Structure 200 connects；Backboard mechanism 100 includes front backboard 101 and rear portion backboard 102, on front backboard 101 and rear portion backboard 102
Design has mechanical position limitation, is more than human normal scope of activities to prevent hip scope of activities；Backboard mechanism 100 is equipped with pin shaft
A104, left hip joint 103L are connect by pin shaft plug 105 with pin shaft A104 with one end of right hip joint 103R；Left hip joint
103L is connect by left spring 108L with the left spring fixed pin 109L on front backboard 101, and right hip joint 103R passes through right bullet
Spring 108R is connect with the right spring fixing pin 109R on front backboard 101；Cating nipple 300 includes left cating nipple 300L
With right cating nipple 300R.Because left spring 108L and right spring 108R provide certain pulling force under balance portion or whole
Limb gravity, when wearer wants left hip outreach, interior time receiving, lower limb do not have the feeling of additional negative weight so that wearer have it is good
Good experience.
Nitrogen gas spring mechanism 200 includes elastic buffer part.
Nitrogen gas spring mechanism 200 and 300 tiled configuration of cating nipple are symmetrical.
Elastic buffer part includes left nitrogen gas spring 201L and right nitrogen gas spring 201R.
Cating nipple 300 and 200 connection type of nitrogen gas spring mechanism include hinged.
Front backboard 101 and rear portion backboard 102 are made of high-strength material.
High-strength material includes one of aluminum alloy materials, carbon fibre composite and titanium alloy material.
Pin shaft A104 outer layer is equipped with copper sheathing 106.
106 outer layer of copper sheathing is additionally provided with copper backing 107.
Left cating nipple 300L is equipped with left copper post 304L, and right cating nipple 300R is equipped with right copper post 304R, when
Wearer wants left hip outreach, interior time receiving, and left copper post 304L and right copper post 304R and nitrogen gas spring mechanism interact, will carry on the back
Portion's load is effectively transmitted to leg, plays the role of balancing back load, and can play one to hip during the motion
Fixed buffer function.
Left hinge 301L, left middle hinge 302L, left leg connector 303L, pin are additionally provided on left cating nipple 300L
Axis B305L, pin shaft C306L and pin shaft D307L；Right hinge 301R, right middle hinge are additionally provided on right cating nipple 300R
302R, right leg connector 303R, pin shaft E305R, pin shaft F306R and pin shaft G307R；Left hinge 301L and left copper post 304L group
At first axle, single-degree-of-freedom rotation is realized, left middle hinge 302L and pin shaft B305L form second hinge, and realization is single freely
Degree rotation, left leg connector 303L and pin shaft D307L form third hinge, realize single-degree-of-freedom rotation；Right hinge 301R with
Right copper post 304R forms the 4th hinge, realizes single-degree-of-freedom rotation, the 5th hinge of right middle hinge 302R and pin shaft E305R composition
Chain realizes single-degree-of-freedom rotation, and right leg connector 303R and pin shaft G307R form the 6th hinge, realizes single-degree-of-freedom rotation；
First, second and third group of hinge and fourth, fifth, six group of hinge realize interior receipts/outreach, flexion/extension and the foldability of left and right hip joint
Energy.
Hip mechanism for wearable ectoskeleton proposed by the invention, is internally provided with pin shaft and spring mechanism, left
Right hip joint can be rotated around pin shaft, automatically adjust hip width；Due to the effect of spring mechanism, worn so that two hip joints can follow
The posture adjust automatically posture of wearer keeps gravity balance, and promotes wearing experience.It is provided with nitrogen gas spring counterbalance mechanism, it can
With compression, so that hip mechanism can play the role of balancing back load with the activity of opposed legs mechanism.It is provided with universal joint machine
Structure can be realized bigger scope of activities, and ectoskeleton folded, convenient transportation.
Claims (10)
1. being used for the hip mechanism of wearable ectoskeleton, it is characterised in that: including backboard mechanism (100), nitrogen gas spring mechanism
(200) with cating nipple (300), nitrogen gas spring mechanism (200) be set to backboard mechanism (100) on, cating nipple (300) with
Nitrogen gas spring mechanism (200) connection；The backboard mechanism (100) includes front backboard (101) and rear portion backboard (102), front
Design has mechanical position limitation on backboard (101) and rear portion backboard (102), and backboard mechanism (100) is equipped with pin shaft A(104), left hip closes
Section (103L) is connect by pin shaft plug (105) with pin shaft (A104) with one end of right hip joint (103R)；Left hip joint
(103L) is connect by left spring (108L) with the left spring fixed pin (109L) on front backboard (101), right hip joint
(103R) is connect by right spring (108R) with the right spring fixing pin (109R) on front backboard (101)；The universal joint machine
Structure (300) includes left cating nipple (300L) and right cating nipple (300R).
2. the hip mechanism according to claim 1 for wearable ectoskeleton, it is characterised in that: the nitrogen gas spring machine
Structure (200) includes elastic buffer part.
3. the hip mechanism according to claim 1 for wearable ectoskeleton, it is characterised in that: the nitrogen gas spring machine
Structure (200) and cating nipple (300) tiled configuration are symmetrical.
4. the hip mechanism according to claim 2 for wearable ectoskeleton, it is characterised in that: the elastic buffer zero
Part includes left nitrogen gas spring (201L) and right nitrogen gas spring (201R).
5. the hip mechanism according to claim 1 for wearable ectoskeleton, it is characterised in that: the cating nipple
It (300) include hinged with nitrogen gas spring mechanism (200) connection type.
6. the hip mechanism according to claim 1 for wearable ectoskeleton, it is characterised in that: the front backboard
(101) it is made with rear portion backboard (102) of high-strength material, including aluminum alloy materials, carbon fibre composite, steel and titanium
One of alloy material.
7. the hip mechanism according to claim 1 for wearable ectoskeleton, it is characterised in that: the pin shaft (A104)
Outer layer is equipped with copper sheathing (106).
8. the hip mechanism according to claim 7 for wearable ectoskeleton, it is characterised in that: the copper sheathing (106)
Outer layer is additionally provided with copper backing (107).
9. the hip mechanism according to claim 1 for wearable ectoskeleton, it is characterised in that: the left universal joint machine
Structure (300L) is equipped with left copper post (304L), and right cating nipple (300R) is equipped with right copper post (304R), when wearer wants
Left hip outreach, interior time receiving, left copper post (304L) and right copper post (304R) and nitrogen gas spring mechanism (200) interact.
10. the hip mechanism according to claim 1 for wearable ectoskeleton, it is characterised in that: the left universal joint
Left hinge (301L), left middle hinge (3020L), left leg connector (303L), pin shaft B are additionally provided in mechanism (300L)
(305L), pin shaft C (306L) and pin shaft D (307L)；Right hinge (301R), the right side are additionally provided on the right cating nipple (300R)
Middle hinge (302R), right leg connector (303R), pin shaft E (305R), pin shaft F (306R) and pin shaft G (307R)；Left hinge
(301L) and left copper post (304L) forms first axle, and left middle hinge (302L) and pin shaft B (305L) form second hinge, left
Leg connector (303L) and pin shaft D (307L) form third hinge；Right hinge (301R) and right copper post (304R) composition the 4th
Hinge, right middle hinge (302R) and pin shaft E (305R) form the 5th hinge, right leg connector (303R) and pin shaft G
(307R) forms the 6th hinge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910195252.7A CN109760026A (en) | 2019-03-14 | 2019-03-14 | Hip mechanism for wearable ectoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910195252.7A CN109760026A (en) | 2019-03-14 | 2019-03-14 | Hip mechanism for wearable ectoskeleton |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109760026A true CN109760026A (en) | 2019-05-17 |
Family
ID=66458902
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910195252.7A Pending CN109760026A (en) | 2019-03-14 | 2019-03-14 | Hip mechanism for wearable ectoskeleton |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109760026A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111643316A (en) * | 2020-05-07 | 2020-09-11 | 广西科技大学 | A disc motor ectoskeleton for rehabilitation training |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101132753A (en) * | 2005-01-18 | 2008-02-27 | 加利福尼亚大学董事会 | lower extremity exoskeleton |
| CN101786478A (en) * | 2010-02-23 | 2010-07-28 | 华东理工大学 | Fictitious force-controlled lower limb exoskeleton robot with counter torque structure |
| CN102599998A (en) * | 2012-03-31 | 2012-07-25 | 中国人民解放军总后勤部军需装备研究所 | Mechanical human hip exoskeleton bearing device |
| EP3103426A1 (en) * | 2014-01-30 | 2016-12-14 | University of Tsukuba | Wearable action assistance device |
| CN207344581U (en) * | 2017-10-24 | 2018-05-11 | 河南金佰利警用装备科技有限公司 | A kind of power-assisted mechanical bone |
| CN108214457A (en) * | 2017-12-26 | 2018-06-29 | 北京理工大学 | A kind of passive work-saving device of trunk for lower limb exoskeleton |
-
2019
- 2019-03-14 CN CN201910195252.7A patent/CN109760026A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101132753A (en) * | 2005-01-18 | 2008-02-27 | 加利福尼亚大学董事会 | lower extremity exoskeleton |
| CN101786478A (en) * | 2010-02-23 | 2010-07-28 | 华东理工大学 | Fictitious force-controlled lower limb exoskeleton robot with counter torque structure |
| CN102599998A (en) * | 2012-03-31 | 2012-07-25 | 中国人民解放军总后勤部军需装备研究所 | Mechanical human hip exoskeleton bearing device |
| EP3103426A1 (en) * | 2014-01-30 | 2016-12-14 | University of Tsukuba | Wearable action assistance device |
| CN207344581U (en) * | 2017-10-24 | 2018-05-11 | 河南金佰利警用装备科技有限公司 | A kind of power-assisted mechanical bone |
| CN108214457A (en) * | 2017-12-26 | 2018-06-29 | 北京理工大学 | A kind of passive work-saving device of trunk for lower limb exoskeleton |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111643316A (en) * | 2020-05-07 | 2020-09-11 | 广西科技大学 | A disc motor ectoskeleton for rehabilitation training |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190517 |