CN106236518A - Exoskeleton robot line is wound around and drives hip joint - Google Patents
Exoskeleton robot line is wound around and drives hip joint Download PDFInfo
- Publication number
- CN106236518A CN106236518A CN201610790775.2A CN201610790775A CN106236518A CN 106236518 A CN106236518 A CN 106236518A CN 201610790775 A CN201610790775 A CN 201610790775A CN 106236518 A CN106236518 A CN 106236518A
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- hip joint
- steel ball
- hole
- lid
- splined hole
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1628—Pelvis
- A61H2201/163—Pelvis holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/085—Crotch
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Physical Education & Sports Medicine (AREA)
- Mechanical Engineering (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Robotics (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention is that a kind of exoskeleton robot line is wound around driving hip joint, supports seat, hip joint support lid, hip joint capstan winch, thigh support seat, thigh support lid and clutch positioning component including hip joint.Hip joint supports the one end of lid and hip joint support seat and is all provided with the first splined hole；Thigh support seat is all provided with being connected through hole with the one end of thigh support lid；Hip joint capstan winch is used for being wound around hip joint and drives line, and is provided with the second splined hole；Hip joint capstan winch is located at hip joint and supports between lid and hip joint support seat, and hip joint supports the outside of lid and arranges thigh support lid, and hip joint supports the outside of seat and arranges thigh support seat；Connect through hole, the first splined hole and the second splined hole to be coaxially disposed；Clutch positioning component is located in connection through hole, the first splined hole and the second splined hole, fixes with thigh support seat, thigh support lid respectively and is connected, can lock with the first splined hole or the second splined hole and unlock.The hip joint simple in construction of the present invention, locks and unlocks easy to operate.
Description
Technical field
The present invention relates to the exoskeleton robot field for walk help, particularly relate to a kind of exoskeleton robot line winding and drive
Dynamic hip joint.
Background technology
Lower limb exoskeleton robot, for drive pattern, mainly has chain driven, pneumatic type, hydraulic-driven at present
The hardware mechanical traction mode such as formula, quadric chain, reducing motor directly driving.These drive patterns have a common spy
Point, it is simply that each joint is provided with driving motor, causes the deficiencies such as big, the Heavy Weight of structural volume.
Chinese invention patent CN 102327173 A Wearable exoskeleton lower limb rehabilitation robot, is to utilize harmonic speed reducer
Realize the motion in joint as driver element, owing to harmonic speed reducer has certain reversibility, the most not there is complete self-locking
Function, is likely to occur unstability defect, and brings potential safety hazard when user is stood muchly.
Lower limb walking ectoskeleton wearable for Chinese invention patent CN 1586434 A, is to utilize hydraulic cylinder to drive even
Bar thus realize joint motions, loosely organized huge, complicated integral structure, weight lays particular stress on, be not suitable for portable and dress.
The portable wearable lower limb rehabilitation of Chinese invention patent ZL 201210370654.4 and walk-aiding exoskeleton robot,
Its each joint uses sliding-block linkage to drive, and drive mechanism is arranged at juxtra-articular, adds leg weight, and structure is multiple
Miscellaneous, it is difficult to optimize further robot overall weight.
Thus, the present inventor relies on experience and the practice being engaged in relevant industries for many years, proposes a kind of exoskeleton robot line
It is wound around and drives hip joint, to overcome the defect of prior art.
Summary of the invention
It is an object of the invention to provide a kind of exoskeleton robot line and be wound around driving hip joint, its simple in construction, do not have
Integrate the driving means such as motor, to alleviate the weight of exoskeleton robot lower limb.
Another object of the present invention is to provide a kind of exoskeleton robot line to be wound around and drive hip joint, its locking and unblock
Simple in construction, easy to operate.
The object of the present invention is achieved like this, and a kind of exoskeleton robot line is wound around and drives hip joint, described ectoskeleton
Robot line be wound around drive hip joint to include hip joint supports seat, hip joint supports lid, hip joint capstan winch, thigh support seat, greatly
Lower limb supports lid and clutch positioning component；Described hip joint supports the one end of lid and described hip joint support seat and is equipped with through
First splined hole；Described thigh support seat is equipped with the one end of described thigh support lid and is connected through hole；Described hip joint twists
Dish is used for being wound around hip joint and drives line, and be provided with axially through the second splined hole；Described hip joint capstan winch is located at described hip and closes
Joint supports lid and described hip joint supports between seat, and described hip joint supports the outside of lid and arranges described thigh support lid, described
Hip joint supports the outside of seat and arranges described thigh support seat；Described connection through hole, described first splined hole and described second flower
Keyhole is coaxially disposed；Described clutch positioning component is located in described connection through hole, described first splined hole and described second spline
Kong Zhong, the two ends of described clutch positioning component are with described thigh support seat, described thigh support lid is fixing is connected and described respectively
Clutch positioning component can be with described first splined hole or described second splined hole locking and unblock.
In a better embodiment of the present invention, described clutch positioning component includes clutch sleeve and clutch cover plate；
Described clutch sleeve includes that a cylindrical sleeves, described cylindrical sleeves have opening and closed end, the circumferential edge of described opening
Edge is provided with ring flange；Described cylindrical sleeves is coaxially located in described connection through hole, described first splined hole and described second spline
Kong Zhong, described closed end extends to described thigh support lid side；Described ring flange is fixing with described thigh support seat to be connected, institute
State clutch cover plate to be fixedly connected with described thigh support lid and described closed end；Described clutch sleeve is provided with and described
One splined hole or described second splined hole locking and the locking system of unblock.
In a better embodiment of the present invention, the barrel of described cylindrical sleeves is axially sequentially provided with along it three circle steel
Pearl pilot hole, each circle steel ball pilot hole is distributed uniformly and circumferentially；The position of first lap steel ball pilot hole is closed with described hip
The first splined hole that joint supports on seat is corresponding, the position of the second circle steel ball pilot hole and the second splined hole of described hip joint capstan winch
Correspondence, it is corresponding that the position of the 3rd circle steel ball pilot hole supports, with described hip joint, the first splined hole covered；Described first spline
Hole, described second splined hole hole wall on circumferencial direction be uniformly provided with multiple axially extended spline；Described steel ball pilot hole
In be provided with steel ball, in described cylindrical sleeves, coaxial sleeve is provided with clutch core, and described steel ball is supported on the outer wall of described clutch core
On；Described clutch core can slide by axial reciprocating in described cylindrical sleeves, and the outer wall of described clutch core is provided with steel ball and lives
Dynamic device, makes described steel ball stretch out along described steel ball pilot hole or retract by described steel ball head, described steel ball and institute
State the spline in the first splined hole or described second splined hole cooperatively form locking or unlock；Described clutch core and described steel
Pearl constitutes described locking system.
In a better embodiment of the present invention, described steel ball head includes protruding cylinder surface and fluted column face, institute
State between protruding cylinder surface and fluted column face as the taper seat seamlessly transitted；The opening of described clutch sleeve is provided with spring backstop
Part, is provided with compression spring between described spring stop part and described clutch core；Described clutch core is relative with described closed end
One end be provided with prominent briquetting；Described briquetting extends through described closed end and described clutch cover plate；Described
Reciprocatingly sliding under the restoring force effect of clutch core external force in described briquetting and described compression spring, described steel ball is in institute
State and stretch out along described steel ball pilot hole or retract under the effect in protruding cylinder surface and fluted column face.
In a better embodiment of the present invention, on the outer wall of described clutch core along described opening to described in remain silent
Extreme direction is sequentially provided with described fluted column face, described protruding cylinder surface, described fluted column face and described protruding cylinder surface；Described clutch is fixed
Hyte part has the first state and the second state；Under first state, described clutch core is against described closed end, the second circle steel ball
Steel ball in pilot hole is supported on described protruding cylinder surface, stretches out the spline of the second circle steel ball pilot hole and described second splined hole
The steel ball that groove is formed in locking, first lap steel ball pilot hole and the 3rd circle steel ball pilot hole is supported on described fluted column face；The
Under two-state, described clutch core contracts next time in external force, and the steel ball in the second circle steel ball pilot hole is supported on described fluted column face
On, the steel ball in first lap steel ball pilot hole and the 3rd circle steel ball pilot hole is supported on described protruding cylinder surface, stretches out first lap
Steel ball pilot hole and the 3rd circle steel ball pilot hole, support seat with described hip joint respectively and hip joint support the first spline covered
The spline in hole forms locking.
In a better embodiment of the present invention, described hip joint supports the outside covered and described hip joint supports seat
Outside is equipped with one section of circular arc stopper slot, and described circular arc stopper slot is arranged concentrically with described first splined hole；Described thigh support
The inner side of lid and the inner side of described thigh support seat are respectively and fixedly provided with a spacer pin, and described spacer pin is embedded into the described circular arc of correspondence
In stopper slot.
In a better embodiment of the present invention, described hip joint capstan winch is stepped cylinder, and described hip joint twists
The middle part of dish is enlarged diameter section, and the periphery of described enlarged diameter section is provided with helicla flute, and described helicla flute is used for being wound around described
Hip joint drives line；The two ends of described hip joint capstan winch are reduced diameter section, the described reduced diameter section at two ends are arranged with respectively point
From fixed pulley, the inner side of described separation fixed pulley be resisted against correspondence described enlarged diameter section end face and can the most described hip joint
Capstan winch rotates, and the outside separating fixed pulley described in side is resisted against the inner side of described hip joint support seat, separates described in opposite side
The outside of fixed pulley is resisted against described hip joint and supports the inner side of lid.
In a better embodiment of the present invention, between described separation fixed pulley and the end face of described enlarged diameter section, institute
State separation fixed pulley and described hip joint support between seat, described separate fixed pulley and described hip joint support between lid, described
Hip joint supports between seat and described thigh support seat and described hip joint supports and is all provided with between lid and described thigh support lid
There is antifriction pad.
In a better embodiment of the present invention, described hip joint supports the one end of lid and described hip joint support seat
All it is embedded with spline housing inserts；Spline housing inserts is disc, and its central authorities are provided with described first splined hole, described first flower
The inwall of keyhole is along the circumferential direction uniformly provided with multiple trapezoid spline groove.
In a better embodiment of the present invention, described hip joint supports seat and mutually fastens with described hip joint support lid
Fixing, form a box body structure；Described thigh support seat is mutually fastened with described thigh support lid, also forms a box body knot
Structure；When described thigh support seat and described thigh support lid are locked with described second splined hole by described clutch positioning component,
And unlock between described first splined hole；Described thigh support seat and described thigh support lid by described clutch positioning component with
During described first splined hole locking, and unlock between described second splined hole.
From the above mentioned, the hip joint of the present invention is provided with hip joint capstan winch, it can be wound around hip joint and drive line, be closed by hip
Joint drives the frictional force between line and hip joint capstan winch to drive hip joint capstan winch to rotate and reverse, to carry out the swing of hip joint,
And drive the driving means such as the motor of hip joint driving line can be arranged on other place, the waist of such as wearer, it is not necessary to
The driving means such as motor are integrated, to alleviate the weight of exoskeleton robot lower limb at hip joint.Its clutch positioning component use from
Clutch set, clutch core, compression spring and steel ball and hip joint support seat, hip joint supports the ladder on lid, hip joint capstan winch
Shape spline coordinates, and drives steel ball stretch out or bounce back by the steel ball head of clutch wicking surface, simple in construction, lock with
Unlock easy to operate.
Accompanying drawing explanation
The following drawings is only intended to, in schematically illustrating the present invention and explaining, not delimit the scope of the invention.Wherein:
Fig. 1: for the decomposition texture schematic diagram of hip joint of the present invention.
Fig. 2: for the assembling structural side view of hip joint of the present invention.
Fig. 3: for the sectional view of Section A-A in Fig. 2.
Fig. 4: support seat for hip joint in the present invention and hip joint supports the decomposition texture schematic diagram covered.
Fig. 5: for the decomposition texture schematic diagram of thigh support seat and thigh support lid in the present invention.
Fig. 6: for the structural representation of hip joint capstan winch in the present invention.
Detailed description of the invention
In order to be more clearly understood from the technical characteristic of the present invention, purpose and effect, now comparison accompanying drawing illustrates this
Bright detailed description of the invention.
As shown in Figure 1, Figure 2 and Figure 3, it is wound around drive system with exoskeleton robot line and matches, the invention provides one
Planting exoskeleton robot line and be wound around driving hip joint, this exoskeleton robot line is wound around and drives hip joint to include hip joint support seat
3-12, hip joint support lid 3-13, hip joint capstan winch 3-6, thigh support seat 3-16, thigh support lid 3-17 and clutch location group
Part.As shown in Figure 4, described hip joint supports seat 3-12 and described hip joint is supported lid 3-13 and can be fastened by standards such as screws
Part is mutually fastened together, forms a box body structure.Described hip joint supports seat 3-12 and supports lid with described hip joint
The box body structure that 3-13 is formed is properly termed as hip joint support member, and hip joint support member is formed as a strip box body,
It is inclined at the outside of human body crotch when mounted.The upper portion of hip joint support member is provided with hip joint and knee joint
Drive motor installing hole, and fix, with waist shoulder bondage system, the installing hole being connected.The bottom edge of this hip joint support member
Being embedded with spline housing inserts 3-121, the most described hip joint supports the bottom phase of lid 3-13 and described hip joint support seat 3-12
Right, keep at a certain distance away between the two；And described hip joint support lid 3-13 and described hip joint support the bottom of seat 3-12
All being embedded with a spline housing inserts 3-121, two spline housing inserts 3-121 structures are identical, relatively and be coaxially disposed.Often
Individual spline housing inserts 3-121 is disc, and its central authorities are provided with the first splined hole 3-122, described first splined hole 3-122's
Inwall is along the circumferential direction uniformly provided with multiple trapezoid spline groove axially extended.Thus in the lower end shape of hip joint support member
Become one axially through the first splined hole 3-122, the material of spline housing inserts 3-121 is high-hardness metal material.
As it is shown in figure 5, described thigh support seat 3-16 and described thigh support lid 3-17 can be tight by standards such as screws
Firmware is mutually fastened together, also forms a box body structure.Described thigh support seat 3-16 and described thigh support lid
The box body structure that 3-17 is formed is properly termed as thigh support parts.Thigh support parts are rod-like members, and its effect is to use
Supporting the thigh of people, be arranged on the outside of human thigh during installation, its upper end connects with the lower end of described hip joint support member
Connect this hip joint of formation.The upper end of described thigh support seat 3-16 and described thigh support lid 3-17 is oppositely arranged and is spaced necessarily
Distance, and connection through hole 3-it is provided with in the position that described thigh support seat 3-16 is corresponding with described thigh support lid 3-17 upper end
161.As it is shown on figure 3, described hip joint capstan winch 3-6 is located at described hip joint supports lid 3-13 and described hip joint support seat 3-12
Between, lid 3-13 can be supported relative to hip joint and rotate with hip joint support seat 3-12, the end face at hip joint capstan winch 3-6 closes with hip
Joint supports can between the medial surface of lid 3-13, and the medial surface of the end face of hip joint capstan winch 3-6 and hip joint support seat 3-12
To arrange antifriction pad 3-11, to reduce force of sliding friction, improving wearability, meanwhile, antifriction pad 3-11 can also play tune
The effect of whole axial gap.The material of antifriction pad 3-11 can use the metal material that tin bronze or bronze etc. are wear-resisting, it is possible to
To use wear-resisting nonmetallic materials, the present embodiment uses nonmetallic materials.Described thigh support lid 3-17 is positioned at described hip and closes
Joint supports the outside of lid 3-13, and described thigh support seat 3-16 is positioned at described hip joint and supports the outside of seat 3-12, thigh support
The medial surface of lid 3-17 and hip joint support and are provided with antifriction pad 3-14 between the lateral surface covering 3-13, thigh support seat 3-16's
Medial surface and hip joint support and are provided with antifriction pad 3-14 between the lateral surface of seat 3-12, rub reducing the slip between contact surface
Wiping power, improves wearability, simultaneously the most also the axial gap of scalable hip joint and size.
The center of described hip joint capstan winch 3-6 be provided with axially through the second splined hole 3-61, the second splined hole 3-61's
Structure is identical with the first splined hole 3-122, and the inwall in its hole is along the circumferential direction uniformly provided with multiple trapezoidal flower axially extended
Keyway.Described connection through hole 3-161, described first splined hole 3-122 are coaxially disposed with described second splined hole 3-61.Described from
Close positioning component to be located in described connection through hole 3-161, described first splined hole 3-122 and described second splined hole 3-61,
The two ends of described clutch positioning component are fixing with described thigh support seat 3-16, described thigh support lid 3-17 respectively to be connected, and
Described clutch positioning component can be with described first splined hole 3-122 or described second splined hole 3-61 locking and unblock.Hip joint
The spline housing inserts 3-121 of support member lower end is connected formation originally by clutch positioning component with the upper end of thigh support parts
The hip joint of invention, when described thigh support parts are locked with described second splined hole 3-61 by described clutch positioning component,
Released state between itself and the first splined hole 3-122 of hip joint support member, i.e. thigh support parts and hip joint capstan winch
3-6 locking and and unlock between hip joint support member, the rotational of hip joint capstan winch 3-6 drives thigh support parts to put together
Dynamic.When described thigh support parts are locked with described first splined hole 3-122 by described clutch positioning component, itself and hip joint
It is in released state between the second splined hole 3-61 of capstan winch 3-6, i.e. locks between thigh support parts and hip joint support member
Fixed and and unlock between hip joint capstan winch 3-6, the rotation of hip joint capstan winch 3-6 will not drive thigh support parts to swing together.
Owing to the position of hip joint support member is fixing, therefore thigh support parts are now in the lock-out state of stop motion.
Further, as shown in Figure 6, hip joint capstan winch 3-6 can be overall structure, uses same material to make；Can also
It is assembling unit structure, uses different materials to make.In the present embodiment, hip joint capstan winch 3-6 uses different materials to make
Molectron.The inner round portion of hip joint capstan winch 3-6 is the cylinder that a high-hardness metal material is made, and cylindrical center is
Axially through described second splined hole 3-61, cylindrical smooth outer surface.The outer perimeter section of hip joint capstan winch 3-6 is one
Stepped cylinder, is enlarged diameter section in the middle part of it, and the periphery of described enlarged diameter section is provided with helicla flute 3-62, described spiral
Groove 3-62 is used for being wound around hip joint and drives line 3-7, and hip joint drives line 3-7 twining movement back and forth under the driving driving motor,
Frictional force can be utilized to drive hip joint capstan winch 3-6 forward together and rotate backward.The two ends of enlarged diameter section are symmetrically arranged
Reduced diameter section, the described reduced diameter section at two ends is arranged with separation fixed pulley 3-10 respectively, and described separation fixed pulley 3-10's is interior
Side is resisted against the end face of the described enlarged diameter section of correspondence and can rotate relative to described hip joint capstan winch 3-6, and it is fixed to separate described in side
The outside of pulley 3-10 is resisted against described hip joint and supports the inner side of seat 3-12, separates the outside of fixed pulley 3-10 described in opposite side
It is resisted against described hip joint and supports the inner side of lid 3-13.Separate fixed pulley 3-10 to be used for positioning and guide knee joint driving line 3-8,
Knee joint drives line 3-8 to be used for driving knee joint, does not repeats them here.The both ends of the surface of enlarged diameter section and corresponding separation fixed pulley
Antifriction pad 3-9 can be provided with between 3-10, and the outside separating fixed pulley 3-10 can be to be arranged on hip joint capstan winch 3-6
End face and hip joint support the lid medial surface of 3-13, hip joint supports the antifriction pad 3-11 between the medial surface of seat 3-12.Hip
The outer perimeter section of joint capstan winch 3-6 uses soft metal material.Stepped cylinder coaxial sleeve is located at the cylinder of inner round portion
External body is also tightly fastened and is connected as an entirety, and its both ends of the surface are concordant.
Further, described clutch positioning component includes clutch sleeve 3-1, clutch core 3-2, clutch cover plate 3-18, pressure
Contracting spring 3-3 and steel ball.Described clutch sleeve 3-1 includes a cylindrical sleeves, and its material is high-hardness metal material.Described circle
Column sleeve cylinder has opening and closed end, and it is internal is cylindrical cavity, and the circumferential edges of described opening is provided with outwardly
Ring flange, ring flange is uniformly provided with bolt connecting hole.Set the most successively along it on the cylindrical barrel of described cylindrical sleeves
Three circle steel ball pilot hole 3-101, each circle steel ball pilot hole 3-101 are had to be distributed uniformly and circumferentially；I.e. first lap steel ball is led
To the close opening of hole 3-101, the 3rd circle steel ball pilot hole 3-101 is near closed end, and the second circle steel ball pilot hole 3-101 is positioned at
Centre, the steel ball pilot hole 3-101 of each circle is equipped with multiple, and the circumferencial direction along cylindrical barrel is uniformly distributed.Wherein,
The first splined hole 3-122 that the position of first lap steel ball pilot hole 3-101 supports on seat 3-12 with described hip joint is corresponding, and second
The position of circle steel ball pilot hole 3-101 is corresponding with the second splined hole 3-61 of described hip joint capstan winch 3-6, and the 3rd circle steel ball guides
It is corresponding that the position of hole 3-101 supports the first splined hole 3-122 on lid 3-13 with described hip joint.At each steel ball pilot hole
Be provided with steel ball in 3-101, the diameter of steel ball less times greater than the internal diameter of steel ball pilot hole 3-101, thus steel ball only some
Volume energy reaches the outside of steel ball pilot hole 3-101, without integrally through steel ball pilot hole 3-101.Described cylindrical sleeves
Coaxially it is located in described connection through hole 3-161, described first splined hole 3-122 and described second splined hole 3-61, opening
Ring flange be close to the outside of thigh support seat 3-16, and fixing with described thigh support seat 3-16 even by connecting bolt
Connect.The outside of thigh support seat 3-16 can arrange concave surface makes ring flange be embedded.Described closed end extends to described thigh
Support the outside of lid 3-17 and be connected by clutch cover plate 3-18 and described thigh support lid 3-17 is fixing.The most described clutch
Cover plate 3-18 is provided with bolt connecting hole, is connected by the outside of connecting bolt with thigh support lid 3-17, simultaneously described in remain silent
End is connected with clutch cover plate 3-18 also by connecting bolt.The outside of thigh support lid 3-17 can arrange concave surface and make clutch
Cover plate 3-18 is embedded.
In cylindrical cavity in described cylindrical sleeves, coaxial sleeve is provided with clutch core 3-2.Clutch core 3-2 is also one
Cylindrical shroud barrier part, the one end open of clutch core 3-2, the other end is closed.The outside closing one end at clutch core 3-2 also sets
There is one section of small-diameter circular shell of column protruded out axially outward.Described steel ball is supported on the outer wall of described clutch core 3-2.Described
Clutch core 3-2 can slide by axial reciprocating in described cylindrical sleeves, and it is movable that the outer wall of described clutch core 3-2 is provided with steel ball
Device, when clutch core 3-2 reciprocatingly slides, steel ball head can promote described steel ball to stretch along described steel ball pilot hole 3-101
Go out or make steel ball be retracted in steel ball pilot hole 3-101.By first lap steel ball pilot hole 3-101 and the 3rd circle steel ball pilot hole 3-
Steel ball in 101 is defined as thigh positioning ball 3-5, the steel ball in the second circle steel ball pilot hole 3-101 is defined as thigh and drives
Dynamic steel ball 3-4.Thigh positioning ball 3-5 can be formed with the trapezoid spline slot fit in described first splined hole 3-122 after stretching out
Locking, is formed after retraction and unlocks；So that thigh support parts and the locking of hip joint support member or unblock.Thigh drives steel ball
3-4 can form locking with the trapezoid spline slot fit in described second splined hole 3-61 after stretching out, and is formed and unlock after retraction；Thus
Make thigh support parts and hip joint capstan winch 3-6 locking or unblock.The steel ball of described clutch core 3-2 and correspondence defines institute
State the locking system on clutch sleeve 3-1.
Further, as it is shown on figure 3, described steel ball head can use arrange on the outer wall of clutch core 3-2 each
Planting the decorative pattern protruded and cave in realize, in the present embodiment, steel ball head includes the convex cylindrical arranged along its axially spaced-apart
Face 3-202 and fluted column face 3-203, for seamlessly transitting between each section of protruding cylinder surface 3-202 and adjacent fluted column face 3-203
Taper seat.The order that arranges of described protruding cylinder surface 3-202 and fluted column face 3-203 with position is, outside clutch core 3-2
It is sequentially provided with fluted column face 3-203, protruding cylinder surface 3-to the direction of cylindrical sleeves closed end from cylindrical sleeves opening on wall
202, fluted column face 3-203 and protruding cylinder surface 3-202.The opening of described clutch sleeve 3-1 is provided with spring stop part 3-102,
Compression spring 3-3 is arranged between spring stop part 3-102 and clutch core 3-2, and one end of compression spring 3-3 is resisted against spring
On stop part 3-102, the other end is resisted against on clutch core 3-2.The middle part of clutch core 3-2 has cavity, compression spring 3-3
It extend in the cavity in the middle part of clutch core 3-2, clutch core 3-2 is applied a closed end compression to cylindrical sleeves
Power.Clutch core 3-2 is close to the inner side of closed end, and the small-diameter circular shell of column of its end forms briquetting 3-201, little directly
Footpath cylindrical section stretches out at the outside of clutch cover plate 3-18, Ke Yitong through closed end and the clutch cover plate 3-18 of cylindrical sleeves
The push rod of the pressing or unlocking mechanism of crossing finger promotes, and makes clutch core 3-2 overcome an elastic force left side to Fig. 3 for compression spring 3-3
Side bounces back.Under the restoring force effect of described clutch core 3-2 external force in briquetting 3-201 and compression spring 3-3, left and right is past
Multiple slip, so that thigh positioning ball 3-5 and thigh drive steel ball 3-4 protruding cylinder surface 3-202's and fluted column face 3-203
Stretch out along steel ball pilot hole 3-101 or retract under effect.
In the present embodiment, clutch positioning component has the first state and the second state.In the first state, described clutch
Core 3-2 is against the closed end of cylindrical sleeves, and now the thigh in the second circle steel ball pilot hole 3-101 drives steel ball 3-4 to be supported on
On corresponding protruding cylinder surface 3-202, thigh drives steel ball 3-4 about half volume to reach to enter outside steel ball pilot hole 3-101
Entering in the trapezoid spline groove of the second splined hole 3-61, second half volume stays the steel ball pilot hole 3-101 of clutch sleeve 3-1
In, make clutch sleeve 3-1 and hip joint capstan winch 3-6 form locking.And first lap steel ball pilot hole 3-101 and the 3rd circle steel ball is led
Thigh positioning ball 3-5 in the 3-101 of hole is supported on the fluted column face 3-203 of correspondence, and thigh positioning ball 3-5 is retracted in
In steel ball pilot hole 3-101, unlock between clutch sleeve 3-1 and hip joint support member；The rotation of hip joint capstan winch 3-6 is permissible
Thigh support parts are driven to swing.Under second state, described clutch core 3-2 is under the external force acted in briquetting 3-201
Retraction (slides to the opening of clutch sleeve 3-1), and after retraction puts in place, the thigh in the second circle steel ball pilot hole 3-101 drives
Steel ball 3-4 is supported on the fluted column face 3-203 of correspondence, and thigh drives steel ball 3-4 to be retracted in steel ball pilot hole 3-101, from
Unlock between clutch set 3-1 and hip joint capstan winch 3-6.And first lap steel ball pilot hole 3-101 and the 3rd circle steel ball pilot hole 3-
Thigh positioning ball 3-5 in 101 is supported on the protruding cylinder surface 3-202 of correspondence, a thigh positioning ball 3-5 about halfbody
Long-pending reach in the trapezoid spline groove entering into the first splined hole 3-122 outside steel ball pilot hole 3-101, second half volume stay from
In the steel ball pilot hole 3-101 of clutch set 3-1, clutch sleeve 3-1 is made to form locking, i.e. clutch sleeve with hip joint support member
3-1 supports the trapezoid spline of the first splined hole 3-122 on lid 3-13 and hip joint support seat 3-12 respectively with described hip joint
Groove forms locking.The rotation of hip joint capstan winch 3-6 can not drive thigh support parts to swing, thigh support parts and branch to hip joint
It is relatively fixed between the part of support part.
Further, in order to limit the opposing oscillatory angle between hip joint support member and thigh support parts, described hip
The outside of joint support lid 3-13 and described hip joint support the outside of seat 3-12 and are equipped with one section of circular arc stopper slot 3-123, institute
State circular arc stopper slot 3-123 and described first splined hole 3-122 for being arranged concentrically.The inner side of described thigh support lid 3-17 and institute
State the inner side of thigh support seat 3-16 to be respectively and fixedly provided with a spacer pin 3-15, described spacer pin 3-15 and be embedded into the described circular arc of correspondence
In stopper slot 3-123.When thigh support parts swing relative to hip joint support member, spacer pin 3-15 is at circular arc stopper slot 3-
Sliding in 123, spacer pin 3-15 slides into behind the end of circular arc stopper slot 3-123 by circular arc stopper slot 3-123 backstop, thus limits
Thigh support parts processed continue to swing relative to hip joint support member.The pendulum angle that can limit as required is to arrange circular arc
The length of stopper slot 3-123 and position.
From the above mentioned, the hip joint of the present invention is provided with hip joint capstan winch 3-6, it can be wound around hip joint and drive line 3-7, logical
Crossing hip joint drives the frictional force between line and hip joint capstan winch to drive hip joint capstan winch to rotate and reverse, to carry out hip joint
Swing, and driving hip joint to drive the driving means such as motor of line to be arranged on, other is local, the waist of such as wearer, no
Need to integrate the driving means such as motor at hip joint, to alleviate the weight of exoskeleton robot lower limb.Its clutch positioning component is adopted
Seat 3-12, hip joint support lid is supported with clutch sleeve 3-1, clutch core 3-2, compression spring 3-3 and steel ball and hip joint
Trapezoid spline slot fit on 3-13, hip joint capstan winch 3-6, drives steel ball to stretch by the steel ball head of clutch wicking surface
Going out or bounce back, simple in construction, it is convenient that latching operation is conciliate in locking.
The foregoing is only the schematic detailed description of the invention of the present invention, be not limited to the scope of the present invention.Any
Those skilled in the art, equivalent variations done on the premise of without departing from the design of the present invention and principle and amendment, all
The scope of protection of the invention should be belonged to.
Claims (10)
1. an exoskeleton robot line is wound around and drives hip joint, it is characterised in that described exoskeleton robot line is wound around and drives
Hip joint includes that hip joint supports seat, hip joint supports lid, hip joint capstan winch, thigh support seat, thigh support lid and clutch and determines
Hyte part；Described hip joint supports the one end of lid and described hip joint support seat and is equipped with the first through splined hole；Described
Thigh support seat is equipped with the one end of described thigh support lid and is connected through hole；Described hip joint capstan winch is used for being wound around hip joint
Drive line, and be provided with axially through the second splined hole；Described hip joint capstan winch is located at described hip joint and supports lid and described hip
Between joint support seat, described hip joint supports the outside of lid and arranges described thigh support lid, and described hip joint supports outside seat
Side arranges described thigh support seat；Described connection through hole, described first splined hole are coaxially disposed with described second splined hole；Described
Clutch positioning component is located in described connection through hole, described first splined hole and described second splined hole, and described clutch positions
The two ends of assembly are respectively with described thigh support seat, described thigh support lid is fixing is connected, and described clutch positioning component can be with
Described first splined hole or described second splined hole locking and unblock.
2. exoskeleton robot line as claimed in claim 1 is wound around and drives hip joint, it is characterised in that described clutch location group
Part includes clutch sleeve and clutch cover plate；Described clutch sleeve includes that a cylindrical sleeves, described cylindrical sleeves have opening
And closed end, the circumferential edges of described opening is provided with ring flange；Described cylindrical sleeves is coaxially located in described connection through hole, institute
Stating in the first splined hole and described second splined hole, described closed end extends to described thigh support lid side；Described ring flange
Fixing with described thigh support seat and be connected, described clutch cover plate is all fixing with described thigh support lid and described closed end even
Connect；Described clutch sleeve is provided with and described first splined hole or described second splined hole locking and the locking system of unblock.
3. exoskeleton robot line as claimed in claim 2 is wound around and drives hip joint, it is characterised in that described cylindrical sleeves
Axially be sequentially provided with three circle steel ball pilot holes on barrel along it, each circle steel ball pilot hole is distributed uniformly and circumferentially；First
The position of circle steel ball pilot hole is corresponding with the first splined hole that described hip joint supports on seat, the position of the second circle steel ball pilot hole
Corresponding with the second splined hole of described hip joint capstan winch, the position of the 3rd circle steel ball pilot hole and the support of described hip joint cover
First splined hole is corresponding；Described first splined hole, described second splined hole hole wall on circumferencial direction be uniformly provided with multiple axially
The spline extended；Being provided with steel ball in described steel ball pilot hole, in described cylindrical sleeves, coaxial sleeve is provided with clutch core, described steel
Pearl is supported on the outer wall of described clutch core；Described clutch core can slide by axial reciprocating in described cylindrical sleeves, described
The outer wall of clutch core is provided with steel ball head, makes described steel ball guide along described steel ball by described steel ball head
Hole is stretched out or retracts, the spline in described steel ball and described first splined hole or described second splined hole cooperatively form locking or
Unlock；Described clutch core and described steel ball constitute described locking system.
4. exoskeleton robot line as claimed in claim 3 is wound around and drives hip joint, it is characterised in that described steel ball activity fills
Put and include protruding cylinder surface and fluted column face, for the taper seat seamlessly transitted between described protruding cylinder surface and fluted column face；Described from
The opening of clutch set is provided with spring stop part, is provided with compression spring between described spring stop part and described clutch core；Institute
State clutch core one end relative with described closed end and be provided with prominent briquetting；Described briquetting passes described closed end and institute
State clutch cover plate to extend；Described clutch core external force in described briquetting and the reply masterpiece of described compression spring
Reciprocatingly sliding under with, described steel ball stretches out along described steel ball pilot hole or contracts under the effect in described protruding cylinder surface and fluted column face
Return.
5. exoskeleton robot line as claimed in claim 4 is wound around and drives hip joint, it is characterised in that described clutch core
It is sequentially provided with described fluted column face, described protruding cylinder surface, described recessed circle along described opening to described closed end direction on outer wall
Cylinder and described protruding cylinder surface；Described clutch positioning component has the first state and the second state；Described clutch under first state
Device core steel ball in described closed end, the second circle steel ball pilot hole is supported on described protruding cylinder surface, stretches out the second circle steel
Pearl pilot hole is formed in locking, first lap steel ball pilot hole and the 3rd circle steel ball pilot hole with the spline of described second splined hole
Steel ball be supported on described fluted column face；Under second state, described clutch core contracts next time in external force, and the second circle steel ball guides
Steel ball in hole is supported on described fluted column face, and the steel ball in first lap steel ball pilot hole and the 3rd circle steel ball pilot hole supports
On described protruding cylinder surface, stretch out first lap steel ball pilot hole and the 3rd circle steel ball pilot hole, support with described hip joint respectively
Seat and hip joint support the spline of the first splined hole covered and form locking.
6. exoskeleton robot line as claimed in claim 1 is wound around and drives hip joint, it is characterised in that described hip joint supports
The outside of lid and described hip joint support the outside of seat and are equipped with one section of circular arc stopper slot, described circular arc stopper slot and described first
Splined hole is arranged concentrically；The inner side of described thigh support lid and the inner side of described thigh support seat are respectively and fixedly provided with a spacer pin, institute
State in the described circular arc stopper slot that spacer pin is embedded into correspondence.
7. exoskeleton robot line as claimed in claim 1 is wound around and drives hip joint, it is characterised in that described hip joint capstan winch
For stepped cylinder, the middle part of described hip joint capstan winch is enlarged diameter section, and the periphery of described enlarged diameter section is provided with spiral shell
Spin slot, described helicla flute is used for being wound around described hip joint and drives line；The two ends of described hip joint capstan winch are reduced diameter section, two ends
Being arranged with separation fixed pulley on described reduced diameter section respectively, the inner side of described separation fixed pulley is resisted against the described major diameter of correspondence
Section end face and can rotate relative to described hip joint capstan winch, the outside separating fixed pulley described in side is resisted against described branch to hip joint
Supportting the inner side of seat, the outside separating fixed pulley described in opposite side is resisted against the inner side of described hip joint support lid.
8. exoskeleton robot line as claimed in claim 7 is wound around and drives hip joint, it is characterised in that described separation fixed pulley
With between the end face of described enlarged diameter section, described fixed pulley and the described hip joint of separating support between seat, described separate fixed pulley
And described hip joint supports between lid, described hip joint supports between seat and described thigh support seat and described hip joint supports
It is equipped with antifriction pad between lid and described thigh support lid.
9. exoskeleton robot line as claimed in claim 1 is wound around and drives hip joint, it is characterised in that described hip joint supports
The one end that lid supports seat with described hip joint is all embedded with spline housing inserts；Spline housing inserts is disc, its central authorities
Being provided with described first splined hole, the inwall of described first splined hole is along the circumferential direction uniformly provided with multiple trapezoid spline groove.
10. exoskeleton robot line as claimed in claim 1 is wound around and drives hip joint, it is characterised in that described branch to hip joint
Support seat and described hip joint support lid and are mutually fastened, and form a box body structure；Described thigh support seat props up with described thigh
Support lid is mutually fastened, and also forms a box body structure；Described thigh support seat and described thigh support lid are by described clutch
When positioning component and described second splined hole locking, and unlock between described first splined hole；Described thigh support seat and described
When thigh support lid is locked with described first splined hole by described clutch positioning component, and solve between described second splined hole
Lock.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610790775.2A CN106236518B (en) | 2016-08-31 | 2016-08-31 | Exoskeleton robot line winding driving hip joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610790775.2A CN106236518B (en) | 2016-08-31 | 2016-08-31 | Exoskeleton robot line winding driving hip joint |
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| Publication Number | Publication Date |
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| CN106236518A true CN106236518A (en) | 2016-12-21 |
| CN106236518B CN106236518B (en) | 2018-08-14 |
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| CN201610790775.2A Active CN106236518B (en) | 2016-08-31 | 2016-08-31 | Exoskeleton robot line winding driving hip joint |
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| WO2021197256A1 (en) * | 2020-03-31 | 2021-10-07 | 袁博 | Parallel elastic driver of power-assisted exoskeleton, and control method therefor |
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| CN106236518B (en) | 2018-08-14 |
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