CN110216653A - A kind of mining hydraulic servo ectoskeleton power-assisting robot - Google Patents
A kind of mining hydraulic servo ectoskeleton power-assisting robot Download PDFInfo
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- CN110216653A CN110216653A CN201910448855.3A CN201910448855A CN110216653A CN 110216653 A CN110216653 A CN 110216653A CN 201910448855 A CN201910448855 A CN 201910448855A CN 110216653 A CN110216653 A CN 110216653A
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- revolute pair
- link
- arm
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- mounting blocks
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to coal mining equipment technical field, specifically a kind of mining hydraulic servo ectoskeleton power-assisting robot.Including heavy machinery supporting arm and lower limb load-bearing power assisting device.Heavy machinery supporting arm includes back vertical lifting mechanism, Horizontal load-bearing mechanical arm and equipment erecting bed.Back vertical lifting mechanism includes back cushion, mounting plate, dragging track, hydraulic cylinder and gas-liquid booster pump, back cushion is mounted on before mounting plate, dragging track both ends are fixed on installation back, dragging track is connect with Horizontal load-bearing mechanical arm by sliding pair a, the connection of the piston rod of Horizontal load-bearing mechanical arm and hydraulic cylinder, the cylinder body of hydraulic cylinder is fixed on a mounting board, and hydraulic cylinder provides power by gas-liquid booster pump, and equipment erecting bed is installed in Horizontal load-bearing mechanical arm end.It is realized, vertical direction Z-operation power, is operated light using hydraulic servo force aid system in Heavy-duty Tools supporting arm vertical direction of the present invention；It is designed without electricity, securely and reliably.
Description
Technical field
The invention belongs to coal mining equipment technical field, specifically a kind of mining hydraulic servo ectoskeleton power-assisted machine
People.
Background technique
Although still needing in many operations of underground currently, coal mine equips the development advanced by leaps and bounds
Artificial hardships manual labor, wherein many occasions such as driving of complicated road maintenance, small-sized chamber still have manually broken coal；Or
Beat the manual work labour of side anchor pole.Since space is limited, preparation is cumbersome or the large sizes such as the protection of existing facility are set
Standby to complete, conventional wheeled or caterpillar robot does not adapt to complex environment, can not have with the comparable flexibility of people,
It is difficult to apply.
These operating features are summarized, manual physical labor mainly includes that artificial frequently mobile pneumatic pick, rigs against outburst etc. are small-sized
Automotive vehicles of constructing tool, and the fulcrum of propulsive force and power is provided to these equipment operations.
Robot replaces being manually the dream of coal mine people for many years, has gone through trial many times, is concentrated mainly on
In the application scenarios such as mine search and rescue, inspection, spray operation, good try has all been carried out.Wherein crusing robot is due to constructing
Special track, therefore, be able to it is on probation in underground, it is other, due to being difficult to adapt to the non-structure environment of underground so that using
Wheeled or crawler belt mobile mechanism robot function is difficult to play.
CN201680077327 discloses a kind of human body exoskeleton device for supporting and using for Heavy-duty Tools, using one
Multi-joint supporting arm is supported on lower limb exoskeleton, and supporting arm is used for supporting heavy tool.The supporting arm of the invention can support
Disappear the gravity of a part of Heavy-duty Tools, and in Heavy-duty Tools mobile working point, people needs to pay Heavy-duty Tools and supporting arm supports
The difference of power can just move it；After movement, operation could be started by needing to lock supporting arm.CN201810502354 discloses one
Kind has the industrial ectoskeleton of vibration-damping function, is similarly supported on lower limb exoskeleton using a multi-joint supporting arm, props up
Bearing arm is used for supporting heavy tool, and supporting arm can absorb the vibration of Heavy-duty Tools, and the shifting principle of Heavy-duty Tools is same
CN201680077327 needs certain operating force, meanwhile, when Heavy-duty Tools operation, needs to lock supporting arm.
CN201510130861 discloses a kind of wearable function auxiliary mechanical arm of waist, which needs complexity
Electrical control realize sub-arm end movement and positioning.
CN201610115341 discloses a kind of link joint integrated hydraulic driving ectoskeleton, and invention driving, which uses, to be watched
Valve control hydraulic cylinder execution is taken, is electrically controlled due to using servo valve so must use in this method.
According to coal mine working condition, for safety, ectoskeleton is not suitable for using electrical control；Meanwhile Heavy-duty Tools exist
There is still a need for manpowers to complete in moving process, and labor-saving effect is undesirable；Mobile Heavy-duty Tools need supporting arm to be unlocked every time
And locking operation, it operates more troublesome.For this purpose, the present invention proposes that one kind carries out mobile Heavy-duty Tools almost without operating force, simultaneously
Without other operations, i.e., removable Heavy-duty Tools, while being designed using without electricity, reach the requirement of intrinsically safe equipment.
Summary of the invention
The present invention to solve the above-mentioned problems, provides a kind of mining hydraulic servo ectoskeleton power-assisting robot.
The present invention takes following technical scheme: a kind of mining hydraulic servo ectoskeleton power-assisting robot, including heavy machinery
Supporting arm and lower limb load-bearing power assisting device.Heavy machinery supporting arm include back vertical lifting mechanism, Horizontal load-bearing mechanical arm and
Equipment erecting bed.
Back vertical lifting mechanism includes back cushion, mounting plate, dragging track, hydraulic cylinder and gas-liquid booster pump, back cushion installation
Before mounting plate, dragging track both ends are fixed on installation back, and dragging track and Horizontal load-bearing mechanical arm pass through sliding pair a
The piston rod of connection, Horizontal load-bearing mechanical arm and hydraulic cylinder connects, and the cylinder body of hydraulic cylinder is fixed on a mounting board, and hydraulic cylinder is by gas
Liquid booster pump provides power, and equipment erecting bed is installed in Horizontal load-bearing mechanical arm end.
Lower limb load-bearing power assisting device includes Form of Bionics Mechanical Legs, hip joint booster and knee joint booster, Form of Bionics Mechanical Legs
Mounting plate two sides are separately mounted to, the Form of Bionics Mechanical Legs includes hip joint connecting rod, thick link, shank link, company, foot
Bar and bandage are provided with the revolute pair f of the flexion/extension movement of achievable hip joint on hip joint connecting rod, the outer of hip joint can be achieved
Exhibition/interior revolute pair g for receiving movement and the outward turning that can realize hip joint/inward turning movement revolute pair h, hip joint connecting rod pass through rotation
Secondary f is connect with mounting plate, and hip joint connecting rod is connect by revolute pair g with revolute pair h, and revolute pair h is connect with thick link, thigh
Connecting rod is connect with shank link by revolute pair i, is separately installed with bandage, shank link and foot on thick link and shank link
Portion's connecting rod is connected by revolute pair j, and thick link upper end is fixed with link block I, and link block II is equipped on revolute pair g, connection
Hip joint booster is installed between block I and link block II, is also connect with one end of knee joint booster on link block I, knee joint
The other end of booster is connect with shank link.
Further, Horizontal load-bearing mechanical arm includes link arm a, link arm b and link arm c, and link arm a is " L " type, even
The one end lever arm a is connect with sliding pair a, the link arm a other end by revolute pair b and link arm b, link arm b by revolute pair c with
Equipment erecting bed structure is installed in link arm c connection on link arm c.
Further, revolute pair d and revolute pair e are provided on equipment erecting bed, link arm c is connect with revolute pair e, rotation
Secondary e is connect with revolute pair d, and revolute pair d is connect with equipment erecting bed structure, and the axis of revolute pair e is vertical direction, revolute pair d's
Axis is horizontal direction.
Further, equipment erecting bed includes the first mounting blocks and the second mounting blocks, and setting is useful on the upside of the first mounting blocks
In the connecting pin bores being connect with revolute pair d, it is provided on the first mounting blocks and the second mounting blocks and is symmetrical arranged bolt hole one by one, the
One mounting blocks and the second mounting blocks can by bolt the first mounting blocks of connection and the second mounting blocks composition being threaded through in bolt hole
To install the frame structure of equipment.
Further, hip joint booster is extension spring, and the knee joint booster is compressed spring.
Compared with prior art, the invention has the following advantages:
1) heavy machinery supporting arm of the present invention adds vertical direction hydraulic servo power-assisted using the three-link mechanism in horizontal plane
Mechanism realizes that it is mobile to carry out 3 D auto in human upper limb scope of activities for equipment under Z-operation power.It is grasped without additional lock
Make.
2) it is realized in Heavy-duty Tools supporting arm vertical direction using hydraulic servo force aid system, vertical direction Z-operation power,
It operates light；It is designed without electricity, securely and reliably.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of ectoskeleton power-assisting robot provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram at another visual angle of ectoskeleton power-assisting robot provided in an embodiment of the present invention；
Fig. 3 is enlarged drawing at A in Fig. 1；
Fig. 4 is enlarged drawing at B in Fig. 1；
Fig. 5 is enlarged drawing at C in Fig. 2；
Fig. 6 is the structural schematic diagram I of equipment erecting bed；
Fig. 7 is the structural schematic diagram II of equipment erecting bed；
Fig. 8 is hip joint connecting rod and thick link junction structural schematic diagram；
1- mounting plate in figure, 2- dragging track, 3- Horizontal load-bearing mechanical arm, 4- hydraulic cylinder, 5- gas-liquid booster pump, the installation of 6- equipment
Platform, 7- back cushion, 8- piston rod, 9- bandage, 10- hip joint connecting rod, 11- thick link, 12- hip joint booster, 13- knee joint
Booster, 14- shank link, 15- foot connecting rod, 16- link block I, 17- link block II.
Specific embodiment
A kind of mining hydraulic servo ectoskeleton power-assisting robot proposed by the present invention, mainly include heavy machinery supporting arm and
Lower limb load-bearing power assisting device two parts.
Heavy machinery supporting arm be by back vertical lifting mechanism, Horizontal load-bearing mechanical arm 3 and equipment erecting bed structure 6 at.
As shown in Figure 1, 2, back vertical lifting mechanism includes back cushion 7, mounting plate 1, dragging track 2, hydraulic cylinder 4 and gas-liquid booster pump 5.
2 both ends of dragging track are fixed on mounting plate 1, and track is connect with Horizontal load-bearing mechanical arm 3 by sliding pair a, gas-liquid booster pump 5
Power is provided for hydraulic cylinder 4,4 cylinder body of hydraulic cylinder is fixed on mounting plate 1, and piston rod 8 is connected with Horizontal load-bearing mechanical arm 3, control
Valve 16 processed installs position shown in Fig. 3, stirs the switch of control valve 16 up and down, i.e., controllable hydraulic cylinder 4 pushes Horizontal load-bearing mechanical
Arm 3 is moved up and down along dragging track 2, and mechanical arm displacement is used as output signal that can feed back to the switching signal of control valve again,
Realization is precisely controlled.Horizontal load-bearing mechanical arm 3 is made of three section link arms, is connected between connecting rod with revolute pair b, c, turns auxiliary shaft
Line is parallel to Z axis, it can be achieved that any position of the equipment erecting bed 6 in horizontal plane X-Y plane is mobile.Equipment erecting bed 6 is to use
The platform of the equipments such as heavy pneumatic pick, jumbolter is installed, as shown in figure 5, equipment erecting bed 6 has the revolute pair of both direction
D and e, revolute pair d axis are parallel to Y-axis, revolute pair e axis be parallel to Z axis, it can be achieved that equipment pitch angle and horizontal rotation,
Meet the flexible operating requirement of equipment.
Lower limb load-bearing power assisting device is made of Form of Bionics Mechanical Legs, hip joint booster and knee joint booster.Bionical machine
Tool leg includes hip joint connecting rod 10, thick link 11, shank link 14, foot's connecting rod 15 and bandage 9.As shown in figure 4, hip joint
The tool of connecting rod 10 is there are three revolute pair f, g, h, and revolute pair f axis is parallel to Y-axis, it can be achieved that the flexion/extension of hip joint moves, revolute pair
G axis is parallel to X-axis, it can be achieved that the abduction/adduction of hip joint moves, and revolute pair h axis is parallel to Z axis, it can be achieved that hip joint
Outward turning/inward turning movement.Thick link 11 and shank link 14 use existing length adjustable structure, meet different personnel's wearings
It needs, and bandage 9 is all installed, realize the connection with human body.Thick link 11 is connect with shank link 14 by revolute pair i, is turned
Dynamic secondary axis is parallel to Y-axis, realizes the flexion/extension movement of human body knee joint.Shank link 14 and foot's connecting rod 15 pass through revolute pair j
Connection, revolute pair axis are parallel to Y-axis, realize the flexion/extension movement of ankle-joint.Hip joint booster 12 is extension spring, described
Knee joint booster 13 be compressed spring, compressed spring is mounted in shell, and shell one end is connect with link block I16, another
End setting connecting rod, connecting rod are connect with shank link 14.It does not work within the scope of the joint angles of person upright's walking, when
When human body squatting motion, joint angles become larger, booster energy storage, and when human body stands up, assist function, drop are realized in energy storage release
Low labor intensity.
Such as Fig. 6, shown in 7, equipment erecting bed 6 includes the first mounting blocks 6.1 and the second mounting blocks 6.2, the first mounting blocks 6.1
Upside is provided with the connecting pin bores 6.3 for connecting with revolute pair d, is provided on the first mounting blocks 6.1 and the second mounting blocks 6.2
It is symmetrical arranged bolt hole 6.4 one by one, the first mounting blocks 6.1 and the second mounting blocks 6.2 pass through the bolt that is threaded through in bolt hole 6.4
Connection, the first mounting blocks 6.1 and the second mounting blocks 6.2 composition can install the frame structure of equipment.Equipment is mounted on the first peace
It fills in block 6.1 and the second mounting blocks 6.2 composition frame.
Its principle is that the exoskeleton robot is worn on operating personnel, and the weight of the equipments such as heavy pneumatic pick is by dermoskeleton
Bone device undertakes, and the power of implement lift is hydraulically operated, the part when personnel carry out squatting up posture operation, become kneeling position by stance
Gravitional force is stored by hip joint booster and knee joint booster, and the potential energy stored when becoming stance by kneeling position discharges power-assisted
Operator stands up.
Claims (5)
1. a kind of mining hydraulic servo ectoskeleton power-assisting robot, it is characterised in that: held including heavy machinery supporting arm and lower limb
Weight power assisting device,
Heavy machinery supporting arm includes back vertical lifting mechanism, Horizontal load-bearing mechanical arm (3) and equipment erecting bed (6),
Back vertical lifting mechanism includes back cushion (7), mounting plate (1), dragging track (2), hydraulic cylinder (4) and gas-liquid booster pump
(5), back cushion (7) is mounted on before mounting plate (1), and dragging track (2) both ends are fixed on mounting plate (1) back side, dragging track (2)
It is connect with Horizontal load-bearing mechanical arm (3) by sliding pair a, the piston rod (8) of Horizontal load-bearing mechanical arm (3) and hydraulic cylinder (4) is even
It connects, the cylinder body of hydraulic cylinder (4) is fixed on mounting plate (1), and hydraulic cylinder (4) provides power, Horizontal load-bearing by gas-liquid booster pump (5)
Mechanical arm (3) end is installed by equipment erecting bed (6)；
Lower limb load-bearing power assisting device includes Form of Bionics Mechanical Legs, hip joint booster (12) and knee joint booster (13),
Form of Bionics Mechanical Legs is separately mounted to mounting plate (1) two sides, and the Form of Bionics Mechanical Legs includes hip joint connecting rod (10), thigh
Connecting rod (11), shank link (14), foot's connecting rod (15) and bandage (9) are provided with achievable hip on hip joint connecting rod (10) and close
The revolute pair g and can realize the outer of hip joint that the revolute pair f of the flexion/extension movement of section, the abduction/adduction that hip joint can be achieved move
Rotation/inward turning movement revolute pair h, hip joint connecting rod (10) are connect by revolute pair f with mounting plate (1), hip joint connecting rod (10)
It is connect by revolute pair g with revolute pair h, revolute pair h is connect with thick link (11), thick link (11) and shank link (14)
Connected by revolute pair i, be separately installed with bandage (9) on thick link (11) and shank link (14), shank link (14) with
Foot's connecting rod (15) is connected by revolute pair j, and thick link (11) upper end is fixed with link block I(16), it is equipped on revolute pair g
Link block II(17), link block I(16) and link block II(17) between install hip joint booster (12), link block I(16) on
It is also connect with one end of knee joint booster (13), the other end of knee joint booster (13) is connect with shank link (14).
2. mining hydraulic servo ectoskeleton power-assisting robot according to claim 1, it is characterised in that: the level is held
Hoisting machinery arm (3) includes link arm a(3.1), link arm b(3.2) and link arm c(3.3), link arm a(3.1) be " L " type, even
Lever arm a(3.1) one end connect with sliding pair a, link arm a(3.1) other end passes through revolute pair b and link arm b(3.2), connecting rod
Arm b(3.2) connect with link arm c(3.3) by revolute pair c, link arm c(3.3) on installation equipment erecting bed structure (6).
3. mining hydraulic servo ectoskeleton power-assisting robot according to claim 2, it is characterised in that: the equipment peace
Revolute pair d and revolute pair e, link arm c(3.3 are provided on dress platform (6)) it is connect with revolute pair e, revolute pair e and revolute pair d connect
It connects, revolute pair d is connect with equipment erecting bed structure (6), and the axis of revolute pair e is vertical direction, and the axis of revolute pair d is level side
To.
4. mining hydraulic servo ectoskeleton power-assisting robot according to claim 3, it is characterised in that: the equipment peace
Filling platform (6) includes the first mounting blocks (6.1) and the second mounting blocks (6.2), be provided on the upside of the first mounting blocks (6.1) for turn
The connecting pin bores (6.3) of secondary d connection is moved, is provided on the first mounting blocks (6.1) and the second mounting blocks (6.2) and is symmetrical arranged one by one
Bolt hole (6.4), the first mounting blocks (6.1) and the second mounting blocks (6.2) are connected by the bolt being threaded through in bolt hole (6.4)
It connects, the first mounting blocks (6.1) and the second mounting blocks (6.2) form the frame structure that can install equipment.
5. mining hydraulic servo ectoskeleton power-assisting robot according to claim 4, it is characterised in that: the hip joint
Booster (12) is extension spring, and the knee joint booster (13) is compressed spring.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910448855.3A CN110216653A (en) | 2019-05-28 | 2019-05-28 | A kind of mining hydraulic servo ectoskeleton power-assisting robot |
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| CN201910448855.3A CN110216653A (en) | 2019-05-28 | 2019-05-28 | A kind of mining hydraulic servo ectoskeleton power-assisting robot |
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Cited By (1)
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| RU202527U1 (en) * | 2020-10-21 | 2021-02-20 | федеральное государственное бюджетное образовательное учреждение высшего образования "Нижегородский государственный технический университет им. Р.Е. Алексеева" (НГТУ) | Exoskeleton for unloading the lower limbs |
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Application publication date: 20190910 |