CN110666780A - Industrial lower limb accompanying exoskeleton device - Google Patents
Industrial lower limb accompanying exoskeleton device Download PDFInfo
- Publication number
- CN110666780A CN110666780A CN201911056739.3A CN201911056739A CN110666780A CN 110666780 A CN110666780 A CN 110666780A CN 201911056739 A CN201911056739 A CN 201911056739A CN 110666780 A CN110666780 A CN 110666780A
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- plate
- thigh
- lower leg
- sleeve
- supporting structure
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 25
- 210000000689 upper leg Anatomy 0.000 claims abstract description 60
- 210000003423 ankle Anatomy 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000003860 storage Methods 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 210000001217 buttock Anatomy 0.000 abstract description 13
- 238000009776 industrial production Methods 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 8
- 238000003466 welding Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Images
Classifications
-
- 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)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an industrial lower limb accompanying exoskeleton device which comprises a backrest, a thigh supporting structure, a shank supporting structure, an ankle support, a hip base plate and an automatic telescopic supporting system, wherein the thigh supporting structure is movably connected with the shank supporting structure; and an air spring is arranged on the buttock base plate, one end of the air spring is movably connected with the buttock base plate, and the other end of the air spring is movably connected with the shank supporting structure. The invention has the beneficial effects that: the device can realize the function that the operation workman is along with walking along with sitting, and the workman of being convenient for carries out work, improves industrial production efficiency, alleviates workman fatigue.
Description
Technical Field
The invention relates to industrial production auxiliary equipment, in particular to an industrial lower limb accompanying exoskeleton device.
Background
The human body machine exoskeleton is worn outside, integrates a robot motor system such as a machine, an electronic system, a computer control system and the like, integrates a sensor technology and a computer technology into the human body machine exoskeleton on the basis of providing functions such as support and the like for a wearer, provides other energy for the wearer, strengthens the performance of the human body, and helps related personnel to complete certain work.
In the industrial field, workers wearing exoskeleton equipment can effectively reduce energy consumption, and further improve working efficiency. The device can assist workers to carry out a large amount of labor such as welding or automobile production lines, thereby saving a large amount of physical power, improving the production efficiency, saving the production cost for enterprises and improving the benefit. Workers can connect an invisible seat outside the exoskeleton and sit along with walking, and workers in a production line can even sit on the invisible seat to perform heavy-duty welding work.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an industrial lower limb accompanying exoskeleton device with a reasonable structural design.
The technical scheme of the invention is as follows:
an industrial lower limb accompanying exoskeleton device is characterized by comprising a backrest, a thigh supporting structure, a shank supporting structure, an ankle support, a hip base plate and an automatic telescopic supporting system, wherein the thigh supporting structure is movably connected with the shank supporting structure; and an air spring is arranged on the buttock base plate, one end of the air spring is movably connected with the buttock base plate, and the other end of the air spring is movably connected with the shank supporting structure.
The industrial lower limb accompanying exoskeleton device is characterized in that the automatic telescopic supporting system comprises a motor, a first sleeve, a second sleeve and a third sleeve, the motor is arranged at one end of the first sleeve, the second sleeve is arranged on the first sleeve in a matched mode, and the third sleeve is arranged on the second sleeve in a matched mode.
The industrial lower limb accompanying exoskeleton device is characterized in that a transmission shaft is arranged on the motor, the transmission shaft penetrates through a first sleeve, a first external thread is arranged on the transmission shaft, and a third limiting part is arranged at the tail end of the transmission shaft; a first threaded pipe is arranged in the second sleeve pipe, a first internal thread and a second external thread are arranged on the first threaded pipe, and a first limiting part is arranged at the tail end of the first threaded pipe; a second threaded pipe is arranged in the third sleeve, a second internal thread is arranged on the second threaded pipe, and a second limiting part is arranged at the tail end of the second threaded pipe; the first external thread is matched with the first internal thread, and the second external thread is matched with the second internal thread.
The industrial lower limb accompanying exoskeleton device is characterized in that the thigh supporting structure comprises a thigh clamping plate, a thigh binding band, a clamping plate threaded hole, a buttock base plate threaded hole, a thigh plate, a thigh clamping plate hole and a thigh plate hinge seat, the thigh clamping plate is fixed with the thigh plate through the clamping plate threaded hole, the thigh binding band is arranged in the thigh clamping plate hole in a penetrating mode, and the thigh plate hinge seat is movably connected with the shank supporting structure through a pin shaft.
The industrial lower limb accompanying exoskeleton device is characterized in that the shank supporting structure comprises a shank plate, a shank plate upper hinge seat, a shank splint threaded hole, a shank splint, a shank plate support hinge seat, a shank plate support and a shank plate lower hinge seat, the shank plate upper hinge seat is movably connected with the shank supporting structure through a hinge pin, the shank splint is fixed with the shank plate through a bolt and a nut, a shank bandage is arranged in the shank splint hole in a penetrating manner, the shank plate support hinge seat is fixed on the shank plate support, and the shank plate lower hinge seat is movably connected with an ankle support through a hinge pin.
The utility model provides an industry low limbs retinue ectoskeleton device, a serial communication port, the buttock backing plate includes backing plate drum, storing box and buttock backing plate screw hole, the backing plate drum adopts cylindric structure, the storing box adopts the square structure, and its lower extreme is opened has the aperture that is used for the control line to wear to establish, the buttock backing plate passes through buttock backing plate screw hole fixed connection on thigh bearing structure.
The industrial lower limb accompanying exoskeleton device is characterized in that the ankle support comprises an ankle support hinge seat, and the ankle support hinge seat is fixedly connected with a shank supporting structure through a pin shaft.
The industrial lower limb accompanying exoskeleton device is characterized in that the automatic telescopic supporting system adopts an air spring, the air spring comprises an air spring hinge seat, a pressure pipe, a piston rod and a piston rod sleeve, the air spring hinge seat is connected with a hip base plate through a pin shaft, and the piston rod sleeve is connected with a shank support structure through a pin shaft.
The invention has the beneficial effects that: the device can realize the function that the operation workman is along with walking along with sitting, and the workman of being convenient for carries out work, improves industrial production efficiency, alleviates workman fatigue. In addition, this can effectually support the workman through the air spring and the automatic flexible braced system that set up, improved the stability of workman's operation.
Drawings
FIG. 1 is an elevational view of the overall construction of the present invention;
FIG. 2 is a side view of the overall structure of the present invention;
FIG. 3 is a schematic structural view of a thigh support structure of the present invention;
FIG. 4 is a schematic structural view of a lower leg support structure of the present invention;
FIG. 5 is a schematic view of the construction of the hip pad of the present invention;
fig. 6 is a schematic view illustrating a structure of an ankle support according to the present invention;
FIG. 7 is a schematic structural view of a gas spring in accordance with the present invention;
fig. 8 is a schematic view of the internal structure of the automatic telescopic supporting system of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1-8, an industrial lower limb accompanying exoskeleton device is mainly used for workers on a production line, and is different from the traditional exoskeleton design, a driving element of the design is not a power element such as a motor cylinder and the like, but depends on the motion of a human body, so that an exoskeleton can be attached to the motion of the human body. Comprises a backrest, a thigh supporting structure, a shank supporting structure, a hip cushion plate, an ankle bracket, an air spring and an automatic telescopic supporting system. The supporting mechanism of each lower limb is provided by an air spring, the thigh supporting mechanism is connected with the shank supporting mechanism through a hinge, and the shank supporting mechanism is connected with the ankle support through a hinge. The self-locking gas spring is positioned between the thigh supporting plate and the shank supporting plate, and can provide supporting force, so that a person can sit and stand at any time while moving. The device is mainly used for equipment of workers on an industrial production line, such as welding, assembling and the like, and can effectively improve the production efficiency and relieve the fatigue of the workers.
Example (b):
the utility model provides an industry low limbs retinue ectoskeleton device, includes back 1, cushion 2, thigh bearing structure 3, shank bearing structure 4, buttock backing plate 5, ankle support 6, air spring 7, motor 8, first sleeve 9, second sleeve 10, third sleeve 11, first screwed pipe 12 and second screwed pipe 13. The seat cushion 2 is fixed to the buttocks pad 5 in use to improve the comfort of sitting. The hip base plate 5 is fixed on the thigh supporting structure 3, the thigh supporting structure 3 is movably connected with the shank supporting structure 4, the ankle bracket 6 is movably connected with the shank supporting structure 4, one end of the air spring 7 is movably connected with the shank supporting structure 4, and the other end is movably connected with the hip base plate 5; the motor 8 is arranged on the first sleeve 9, and the second sleeve 10 can move telescopically relative to the first sleeve 9 and the third sleeve 11 can move telescopically relative to the second sleeve 10 by rotating a transmission shaft 81 of the motor.
The thigh support structure 3 comprises a thigh splint 31, a thigh strap 32, a splint screw hole 33, a hip pad screw hole 34, a thigh plate 35, a thigh splint hole 36 and a thigh plate hinge seat 37. Thigh splint 31 is fixed with thigh board 35 through set up bolt and nut in splint screw hole 33, and thigh bandage 32 passes thigh splint hole 36 and plays the effect of fixed wearer's thigh, gives the better experience of wearer. The thigh plate hinge base 37 is movably connected with the thigh plate upper hinge base 41 through a pin shaft. The thigh supporting structure 3 plays a role of supporting the thigh according to the anthropomorphic requirement; the length is 300mm-350mm, and the width is about 80 mm; the thigh support structure 3 has 8 threaded holes, 4 of which are connected to the thigh splint 31 and 4 of which are connected to the hip plate 5. Two holes are formed on both sides of the thigh splint 31, and the thigh strap 32 is passed therethrough.
Shank bearing structure 4 includes shank plate 48, shank plate upper hinge seat 41, shank splint screw hole 42, shank splint hole 43, shank splint 44, shank plate support hinge seat 45, shank plate support 46 and shank plate lower hinge seat 47, shank plate upper hinge seat 41 is through round pin axle and shank plate hinge seat 37 swing joint, shank splint 44 is fixed with shank plate 48 through setting up bolt and nut in shank splint screw hole 42, wear to establish the shank bandage in shank splint hole 43, cross the effect of playing fixed wearer's shank, give the better experience of wearer. The lower leg plate support 46 is arranged on the lower leg plate 48, and the lower leg plate support hinge mount 45 is fixed on the lower leg plate support 46. A part of the mounting position of a lower leg plate support hinge seat 45 (a double-lug hinge seat) is reserved to ensure that the air spring 7 is mounted, the lower leg plate hinge seat 47 is movably connected with an ankle support hinge seat 61 through a pin shaft in the stroke of the air spring 7, the lower leg support structure 4 plays a role in supporting a lower leg according to anthropomorphic requirements, and is connected with a thigh support structure and an ankle support, and two threaded holes are formed in the lower leg plate 48 and connected with a lower leg splint 44.
The hip pad 5 includes a pad cylinder 51, a storage box 52, and a hip pad screw hole 53. The cushion plate cylinder 51 is designed to be cylindrical and plays a role in supporting a cushion, internal threads are arranged inside the cushion plate cylinder 51, and the backrest 1 is fixedly connected with the cushion plate cylinder 51 through bolts. The storage box 52 is a cube structure and is used for placing a gas spring controller, a control line of a gas supply spring with a small hole of 5mm is arranged at the lower end of the storage box and penetrates through the control line, and 4 hip cushion plate threaded holes 53 are formed in the hip cushion plate 5 and are fixedly connected to the thigh plate 48; the buttocks pad 5 plays a role of supporting the buttocks according to the anthropomorphic requirement.
The ankle support 6 is designed without considering excessive degrees of freedom so as to prevent redundant degrees of freedom, and the support can normally rotate around the middle shaft. An ankle support hinge seat 61 in the ankle support 6 is movably connected with a lower hinge seat 47 of the lower leg plate through a pin shaft; the ankle support 6 is designed to fit the shape of a human ankle according to personification requirements.
The gas spring 7 comprises a gas spring hinge seat 71, a pressure tube 72, a piston rod 73 and a piston rod sleeve 74. The air spring hinge seat 71 is movably connected with the hip cushion plate 5 through a pin shaft, and the piston rod sleeve 74 is movably connected with the shank plate bracket hinge seat 45 through a pin shaft; the air spring selects the JKQ lockable air spring, and is in a free state and can move freely under the condition that a worker does not press the control switch. The gas spring 7 works with the gas medium in the pressure pipe 72 and is locked in the target position when the control switch is pressed by the operator and the internal valve of the gas spring 7 is closed. The gas spring 7 adopts a pin-column hinge and is provided with a gas spring interface according to a connector thread.
The automatic telescopic supporting system comprises a motor 8, a first sleeve 9, a second sleeve 10, a third sleeve 11, a first threaded pipe 12, a transmission shaft 81, a second threaded pipe 13, a first limiting part 1203, a second limiting part 1302 and a third limiting part 83; the first sleeve 9, the second sleeve 10 and the third sleeve 11 are coaxially arranged. The transmission shaft 81 penetrates through the first sleeve 9, a first external thread 82 is arranged on the transmission shaft 81, a third limiting portion 83 is arranged at the tail end of the transmission shaft 81, a first threaded pipe 12 is arranged in the second sleeve 10, a first internal thread 1201 and a second external thread 1202 are arranged on the first threaded pipe 12, and a first limiting portion 1203 is arranged at the tail end of the first threaded pipe 12; a second threaded pipe 13 is arranged in the third sleeve 11, a second internal thread 1301 is arranged on the second threaded pipe 13, and a second limiting part 1302 is arranged at the tail end of the second threaded pipe 13; the first external thread 82 is engaged with the first internal thread 1201, and the second external thread 1202 is engaged with the second internal thread 1301.
The outer diameter of the first position-limiting portion 1203 is equal to the inner diameter of the second threaded pipe 12, so that the first position-limiting portion 1203 is attached to the inner wall of the second threaded pipe 13, the first threaded pipe 12 is prevented from shaking when rotating relative to the transmission shaft 81, and the first position-limiting portion 1203 prevents the second position-limiting portion 1302 from separating. During operation, the workman drives transmission shaft 81 through control motor 8 and rotates, and first screwed pipe 12 and second screwed pipe 13 keep away from motor 8 motion, and when spacing portion 83 contradicted first internal thread 1201 until the third, transmission shaft 81 blocked first screwed pipe 12 through spacing portion 83 of third, and transmission shaft 81 drives first screwed pipe 12 and rotates together. Then the second threaded pipe 13 moves in the direction away from the motor 8 until the first limiting part 1203 abuts against the second internal thread 1301, the second threaded pipe 13 is clamped by the first limiting part 1203, and at this time, the motor 8 controls the transmission shaft 81 to stop rotating; through this process, the automatic telescopic supporting system can support a worker together with the gas spring 7 when the worker needs to sit down for work.
Therefore, the bionic lower limb simulation human body simulator researches the motion mode and rule of the human body to simulate the lower limbs of a human body, synchronizes the motion with the human body, selects a proper control system and a corresponding sensor to control and feed back the motion of the bionic lower limbs, and can save the labor cost, improve the production efficiency and manufacture economic and social values on the premise of not adding power equipment.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the technical solutions of the present invention, so long as the technical solutions can be realized on the basis of the above embodiments without creative efforts, which should be considered to fall within the protection scope of the patent of the present invention.
Claims (8)
1. The industrial lower limb accompanying exoskeleton device is characterized by comprising a backrest (1), a thigh supporting structure (3), a shank supporting structure (4), an ankle support (6), a hip base plate (5) and an automatic telescopic supporting system, wherein the thigh supporting structure (3) is movably connected with the shank supporting structure (4), the ankle support (6) is movably connected with the shank supporting structure (4), the hip base plate (5) is fixedly arranged on the thigh supporting structure (3), the backrest (1) is fixedly arranged on the hip base plate (5), and the automatic telescopic system is fixedly connected with the backrest (1) and supported on the ground through the automatic telescopic system; the hip base plate (5) is provided with a gas spring (7), one end of the gas spring (7) is movably connected with the hip base plate (5), and the other end of the gas spring is movably connected with the shank supporting structure (4).
2. The industrial lower extremity walking exoskeleton device according to claim 1, wherein the automatic telescopic support system comprises a motor (8), a first sleeve (9), a second sleeve (10) and a third sleeve (11), the motor (8) is arranged at one end of the first sleeve (9), the second sleeve (10) is arranged on the first sleeve (9) in a matching way, and the third sleeve (11) is arranged on the second sleeve (10) in a matching way.
3. The industrial lower limb accompanying exoskeleton device as claimed in claim 2, wherein a transmission shaft (81) is arranged on the motor (8), the transmission shaft (81) is arranged in the first sleeve (9) in a penetrating manner, a first external thread (82) is arranged on the transmission shaft (81), and a third limiting part (83) is arranged at the tail end of the transmission shaft (81); a first threaded pipe (12) is arranged in the second sleeve (10), a first internal thread (1201) and a second external thread (1202) are arranged on the first threaded pipe (12), and a first limiting part (1203) is arranged at the tail end of the first threaded pipe (12); a second threaded pipe (13) is arranged in the third sleeve (11), a second internal thread (1301) is arranged on the second threaded pipe (13), and a second limiting part (1302) is arranged at the tail end of the second threaded pipe (13); the first external thread (82) is matched with the first internal thread (1201), and the second external thread (1202) is matched with the second internal thread (1301).
4. An industrial lower extremity walking exoskeleton device according to claim 1, wherein the thigh support structure (3) comprises a thigh splint (31), a thigh strap (32), a splint screw hole (33), a hip pad screw hole (34), a thigh plate (35), a thigh splint hole (36) and a thigh plate hinge seat (37), the thigh splint (31) is fixed with the thigh plate (35) through the splint screw hole (33), the thigh strap (32) is inserted into the thigh splint hole (36), and the thigh plate hinge seat (37) is movably connected with the shank support structure (4) through a pin shaft.
5. The industrial lower limb accompanying exoskeleton device as claimed in claim 1, wherein the lower leg supporting structure (4) comprises a lower leg plate (48), an upper lower leg plate hinge seat (41), a lower leg plate threaded hole (42), a lower leg plate hole (43), a lower leg splint (44), a lower leg plate support hinge seat (45), a lower leg plate support (46) and a lower leg plate hinge seat (47), the upper lower leg plate hinge seat (41) is movably connected with the upper leg supporting structure (3) through a pin shaft, the lower leg splint (44) is fixed with the lower leg plate (48) through a bolt and a nut, a lower leg strap penetrates through the lower leg plate hole (43), the lower leg plate support hinge seat (45) is fixed on the lower leg plate support (46), and the lower leg plate hinge seat (47) is movably connected with the ankle support through a pin shaft.
6. The industrial lower limb accompanying exoskeleton device as claimed in claim 1, wherein the hip plate (5) comprises a plate cylinder (51), a storage box (52) and a hip plate threaded hole (53), the plate cylinder (51) adopts a cylindrical structure, the storage box (52) adopts a square structure, a small hole for a control line to penetrate is formed in the lower end of the storage box, and the hip plate (5) is fixedly connected to the thigh supporting structure (3) through the hip plate threaded hole (53).
7. An industrial lower extremity walking exoskeleton device according to claim 1 where the ankle support (6) includes an ankle support hinge base (61), the ankle support hinge base (61) is fixedly connected to the lower leg support structure (4) by a pin.
8. An industrial lower extremity accompanying exoskeleton device as claimed in claim 1 wherein the automatic telescopic support system employs a gas spring (7), the gas spring (7) comprises a gas spring hinge seat (71), a pressure tube (72), a piston rod (73) and a piston rod sleeve (74), the gas spring hinge seat (71) is connected with the hip plate (5) by a pin shaft, and the piston rod sleeve (74) is connected with the lower leg support structure (3) by a pin shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911056739.3A CN110666780B (en) | 2019-10-31 | 2019-10-31 | Industrial lower limb accompanying exoskeleton device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911056739.3A CN110666780B (en) | 2019-10-31 | 2019-10-31 | Industrial lower limb accompanying exoskeleton device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110666780A true CN110666780A (en) | 2020-01-10 |
| CN110666780B CN110666780B (en) | 2024-05-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911056739.3A Active CN110666780B (en) | 2019-10-31 | 2019-10-31 | Industrial lower limb accompanying exoskeleton device |
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| Country | Link |
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| CN (1) | CN110666780B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201267578Y (en) * | 2008-06-26 | 2009-07-08 | 范金强 | Wheelchair with walking stick function |
| CN104825311A (en) * | 2015-05-04 | 2015-08-12 | 台州学院 | Special lower limb exoskeleton for hemiplegic patient, using method thereof and stability validation method |
| KR20170111279A (en) * | 2016-03-25 | 2017-10-12 | 에이치엠에이치 주식회사 | Robot for assisting user to walk with lower body exoskeleton |
| CN107309867A (en) * | 2017-08-17 | 2017-11-03 | 河北工业大学 | Lower limb assistance exoskeleton based on Gravity support |
| CN107744277A (en) * | 2017-08-17 | 2018-03-02 | 杭州壕车科技有限公司 | A kind of cylinder supports formula ectoskeleton seat |
| CN210879645U (en) * | 2019-10-31 | 2020-06-30 | 浙江工业大学 | Industrial lower limb accompanying exoskeleton device |
-
2019
- 2019-10-31 CN CN201911056739.3A patent/CN110666780B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201267578Y (en) * | 2008-06-26 | 2009-07-08 | 范金强 | Wheelchair with walking stick function |
| CN104825311A (en) * | 2015-05-04 | 2015-08-12 | 台州学院 | Special lower limb exoskeleton for hemiplegic patient, using method thereof and stability validation method |
| KR20170111279A (en) * | 2016-03-25 | 2017-10-12 | 에이치엠에이치 주식회사 | Robot for assisting user to walk with lower body exoskeleton |
| CN107309867A (en) * | 2017-08-17 | 2017-11-03 | 河北工业大学 | Lower limb assistance exoskeleton based on Gravity support |
| CN107744277A (en) * | 2017-08-17 | 2018-03-02 | 杭州壕车科技有限公司 | A kind of cylinder supports formula ectoskeleton seat |
| CN210879645U (en) * | 2019-10-31 | 2020-06-30 | 浙江工业大学 | Industrial lower limb accompanying exoskeleton device |
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| Publication number | Publication date |
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| CN110666780B (en) | 2024-05-14 |
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