CN112847310A - Bionic spine structure of wearable exoskeleton - Google Patents
Bionic spine structure of wearable exoskeleton Download PDFInfo
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- CN112847310A CN112847310A CN202110018859.5A CN202110018859A CN112847310A CN 112847310 A CN112847310 A CN 112847310A CN 202110018859 A CN202110018859 A CN 202110018859A CN 112847310 A CN112847310 A CN 112847310A
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- arc
- spine
- contact surface
- cross bar
- connection
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
Abstract
The invention discloses a bionic spine structure of a wearable exoskeleton, which comprises at least two connecting sheets simulating the shape of the spine of a human body, wherein each connecting sheet comprises a connecting pin penetrating through the connecting sheet and an arc-shaped sliding groove arranged on the side wall of the connecting sheet, two adjacent connecting sheets are connected through the connecting pin and the arc-shaped sliding groove, and the connecting pin of one connecting sheet is in sliding connection in the arc-shaped groove of the other connecting sheet, so that the two connecting sheets are in a bent state or a non-bent state. The bionic spine mechanism is formed by the plurality of connected connecting sheets simulating the shape of the spine of the human body, the two adjacent connecting sheets are connected through the connecting pin and the arc-shaped sliding groove, the connecting pin rotates in the arc-shaped sliding groove and can simulate the bending of the spine, the connecting pin moves along the arc-shaped sliding groove, and the horizontal displacement can be generated in the bending direction like the spine of the human body while the bending of the spine is simulated, so that the distance generated by the displacement of the spine of the human body is compensated, and the bionic spine structure is always attached to the human body.
Description
Technical Field
The invention relates to the field of wearable exoskeleton bionic structures, in particular to a bionic spine structure of a wearable exoskeleton.
Background
The exoskeleton originally refers to a hard external structure for protecting soft organs in organisms in biology, and the existing exoskeleton robot refers to a mechanical device which simulates the motion state of a human body, enhances the motion capability of the human body, integrates bionics and man-machine ergonomics, is worn on the outer side of a limb of the human body, and can improve the specific capabilities of people in walking durability, load bearing capability and the like. As the exoskeleton robot relates to human-computer ergonomics, the exoskeleton robot is required to have strong adaptability, not only is suitable for wearers with different body shapes, but also carries out dangerous protection on human joints, and prevents human body damage in the wearing process.
Many back parts of exoskeleton robots in the prior art are straight structures, and are matched with the back parts of human bodies to be bent by hip joints, so that the wearing comfort is poor, and the back structures are separated from the human bodies during movement, thereby influencing the actual using effect; simultaneously current bionical vertebra structure is mostly simple many hinges series connection mechanism, only provides crooked degree of freedom, nevertheless because of human vertebra between the crooked contact surface constantly slides to crooked direction for take the horizontal direction to remove when the vertebra is crooked, thereby make back structure and human separation, and then influence dress and result of use.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a bionic spine structure of a wearable exoskeleton, which can generate horizontal displacement in the bending direction like the spine of a human body while simulating the bending of the spine, thereby compensating the distance generated by the displacement of the spine of the human body and enabling the bionic spine structure to be always attached to the human body.
In order to solve the technical problem, the invention provides a bionic spine structure of a wearable exoskeleton, which is characterized by comprising at least two connecting sheets simulating the shape of the spine of a human body, wherein each connecting sheet comprises a connecting pin penetrating through the connecting sheet and an arc-shaped sliding groove arranged on the side wall of the connecting sheet, two adjacent connecting sheets are connected through the connecting pin and the arc-shaped sliding groove, the connecting pin of one connecting sheet is connected in the arc-shaped groove of the other connecting sheet in a sliding manner, and the two connecting sheets are in a bent state or a non-bent state.
In a preferred embodiment of the present invention, the connecting plates further include upper and lower curved contact surfaces respectively disposed on upper and lower surfaces of the connecting plate, a gap between the upper curved contact surface and the lower curved contact surface of two adjacent connecting plates is a relative moving range of the two connecting plates, and when the upper curved contact surface and the lower curved contact surface abut against each other, the two connecting plates reach a maximum bending angle.
In a preferred embodiment of the present invention, the connecting pin is located at one end of the arc-shaped sliding groove when the two connecting pieces are in the non-bending state, and the connecting pieces can be bent only in one direction when in the bending state.
In a preferred embodiment of the invention, the connecting piece at the bottommost part is connected with the waist cross bar.
In a preferred embodiment of the invention, the waist cross bar is connected with the connecting sheet through a connecting tenon and a rotating shaft, one end of the connecting tenon is fixed on the waist cross bar, the other end of the connecting tenon extends into the connecting sheet at the bottommost part and is movably connected with the connecting sheet through the rotating shaft, and the waist cross bar rotates relative to the connecting sheet by taking the rotating shaft as an axis.
In a preferred embodiment of the invention, the waist cross bar further comprises limiting surfaces arranged on two sides of the connecting surface of the connecting sheet and the waist cross bar at the bottommost part, and the limiting surfaces limit the rotation angle of the waist cross bar relative to the connecting sheet.
In a preferred embodiment of the present invention, the connecting plate further includes a driving portion, the driving portion is connected to a driving module, and the driving module drives the connecting plate to bend through the driving portion.
In a preferred embodiment of the present invention, the driving part further comprises a wire rope pulley, an axle is arranged in the wire rope pulley in a penetrating manner, two ends of the axle are fixed on the re-connecting block through axle positioning holes, a wire rope is wound outside the wire rope pulley, and the wire rope is connected with the driving module.
The invention has the beneficial effects that:
the bionic spine mechanism is formed by the plurality of connected connecting sheets simulating the shape of the spine of the human body, the two adjacent connecting sheets are connected through the connecting pin and the arc-shaped sliding groove, the connecting pin rotates in the arc-shaped sliding groove and can simulate the bending of the spine, the connecting pin moves along the arc-shaped sliding groove, and the horizontal displacement can be generated in the bending direction like the spine of the human body while the bending of the spine is simulated, so that the distance generated by the displacement of the spine of the human body is compensated, and the bionic spine structure is always attached to the human body.
Drawings
FIG. 1 is a perspective view of a biomimetic spinal structure of a wearable exoskeleton of the present invention;
FIG. 2 is a schematic view of a connecting tab of the present invention;
FIG. 3 is a schematic structural view of a non-flexed state of a biomimetic spinal structure wearing the exoskeleton of the present invention;
FIG. 4 is a schematic structural view of the present invention in a curved state of a bionic spinal construct wearing an exoskeleton;
FIG. 5 is a side view of the web of the present invention connected to a waist rail;
figure 6 is a front view of the web of the present invention attached to a waist rail.
The reference numbers in the figures illustrate: 1. connecting sheets; 2. a connecting pin; 3. an arc-shaped chute; 4. a wire rope pulley; 5. a wheel axle; 6. a silk rope; 7. an upper arc-shaped contact surface; 8. a lower arcuate contact surface; 9. a waist rail; 10. connecting the clamping tenon; 11. a rotating shaft; 12. a limiting surface.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
Referring to fig. 1-2, one embodiment of the bionic spine structure of the wearable exoskeleton of the present invention comprises at least two connecting pieces 1 simulating the shape of human spine, the connecting sheet 1 comprises a connecting pin 2 penetrating through the connecting sheet 1 and an arc-shaped chute 3 arranged on the side wall of the connecting sheet 1, two adjacent connecting sheets 1 are connected through the connecting pin 2 and the arc-shaped chute 3, the connecting pin 2 of one connecting sheet 1 is slidably connected in the arc-shaped groove 3 of the other connecting sheet 1, so that the two connecting sheets 1 are in a bending state or a non-bending state, the connecting pin 2 rotates in the arc-shaped sliding groove 3 and can simulate the bending of the spine, the connecting pin 2 moves along the arc-shaped sliding groove 3, and can generate horizontal displacement to the bending direction like the spine of a human body while simulating the bending of the spine, thereby compensating the distance generated by the displacement of the human vertebra and ensuring that the bionic vertebra structure is always attached to the human body.
In this embodiment, still be provided with the drive division on the connection piece 1, the drive division is connected with drive module, drive module passes through the drive division drives connection piece 1 crooked, the drive division includes wire rope pulley 4, wear to be equipped with shaft 5 in the wire rope pulley 4, 5 both ends of shaft are fixed on connecting block 1 through the shaft locating hole wire rope 6 is twined outside the wire rope pulley 4, wire rope 6 is connected with drive module, drive module can adopt initiative drive module and passive drive module, sets up the drive module of different forms and power according to actual demand.
In particular, the number of connecting pieces 1 is adjusted according to the actual height and the maximum bending angle of the wearer.
Specifically, the upper and lower two sides of connection piece 1 are provided with arc contact surface 7 and arc contact surface 8 down respectively, it sets up with the cooperation of arc contact surface 8 down to go up arc contact surface 7, and the clearance between the last arc contact surface 7 of two adjacent connection pieces 1 and arc contact surface 8 down is two connection piece 1 relative pivoted home range, and when last arc contact surface 7 and arc contact surface 8 butt down, two connection pieces 1 reach maximum bending angle, through last arc contact surface 7 and arc contact surface 8 restriction connection piece 1's bending angle down to play the guard action to the human body.
Referring to fig. 3 to 4, two fitting states between two adjacent connecting pieces 1 are shown: the connecting pin 2 is located at one end of the arc-shaped sliding groove 3 when the two connecting sheets 1 are in the non-bending state, and the connecting pin 2 moves from one end of the arc-shaped sliding groove 3 to the other end of the arc-shaped sliding groove 3 along the arc-shaped sliding groove 3 when the connecting sheets are bent, so that the connecting sheets 1 can be bent only in one direction when in the bending state, and the connecting sheets are used for protecting the spine of a human body from being bent in the opposite direction to cause spine injury.
Referring to fig. 3, when the spine structure of the present embodiment is in a non-bent state, i.e., when the bending angle is 0, D ═ R; wherein D is the vertical distance from the center of the connecting pin 2 to the bottom of the connecting sheet 1, and R is the distance from the center of the connecting pin 2 to the lower arc-shaped contact surface 8.
Referring to fig. 4, when the spine structure of the present embodiment is in a bent state, it can be seen from fig. 3 that the connecting piece 1 moves forward by a distance l:
l＝1/2D sinθ；
wherein the content of the first and second substances,θis the rotation angle between two connecting sheets 1;lis the displacement distance between two adjacent connecting sheets 1.
Therefore, when the spine structure of the embodiment is bent, the horizontal displacement can be generated in the bending direction like the human spine, so that the distance generated by the displacement of the human spine is compensated, and the spine structure is always attached to the human body.
Referring to fig. 5-6, the connecting piece 1 located at the bottommost portion is connected with the waist cross bar 9, the waist cross bar 9 is connected with the connecting piece 1 through the connecting tenon 10 and the rotating shaft 11, one end of the connecting tenon 10 is fixed on the waist cross bar 9, the other end of the connecting tenon extends into the connecting piece 1 at the bottommost portion and is movably connected with the connecting piece 1 through the rotating shaft 11, the waist cross bar 9 rotates relative to the connecting piece 1 by taking the rotating shaft 11 as an axis, and the spine structure of the embodiment is movably connected with the waist cross bar 9 through the connecting tenon 10 and the rotating shaft 11 and used for simulating lateral bending of the spine structure.
Specifically, two sides of the connection surface between the connection sheet 1 at the bottommost part and the waist cross bar 9 are provided with limiting surfaces 12, and the limiting surfaces 12 limit the rotation angle of the waist cross bar 9 relative to the connection sheet 1, so as to control the maximum lateral bending angle of the simulated spine structure, thereby achieving the lateral protection of the spine of the human body.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (8)
1. The utility model provides a bionical vertebra structure of wearable ectoskeleton which characterized in that includes two at least connection pieces of imitative human vertebra shape, the connection piece includes the connecting pin that runs through the connection piece and sets up the arc spout at the connection piece lateral wall, and the passing through connecting pin and the arc spout of two adjacent connection pieces are connected, and the connecting pin of one of them connection piece slides in the arc recess of another connection piece and connects, makes two connection pieces be in crooked state or non-crooked state.
2. The wearable exoskeleton bionic spine structure of claim 1, wherein the upper and lower surfaces of the connecting piece are respectively provided with an upper arc-shaped contact surface and a lower arc-shaped contact surface, the gap between the upper arc-shaped contact surface and the lower arc-shaped contact surface of two adjacent connecting pieces is the relative movement range of the two connecting pieces, and when the upper arc-shaped contact surface and the lower arc-shaped contact surface are abutted, the two connecting pieces reach the maximum bending angle.
3. The biomimetic spinal construct of claim 2, wherein the connecting pin is located at one end of the arcuate slot when the two connecting tabs are in the unflexed state, and wherein the connecting tabs are only bendable in one direction when in the flexed state.
4. The biomimetic spinal structure of a wearable exoskeleton of claim 1 wherein the connection tab at the bottom most portion is connected to a lumbar crossbar.
5. The wearable exoskeleton bionic spine structure of claim 4, wherein the waist cross bar is connected with the connecting piece through a connecting tenon and a rotating shaft, one end of the connecting tenon is fixed on the waist cross bar, the other end of the connecting tenon extends into the bottommost connecting piece and is movably connected with the connecting piece through the rotating shaft, and the waist cross bar rotates relative to the connecting piece by taking the rotating shaft as an axis.
6. The bionic spine structure of wearable exoskeleton of claim 5, wherein limiting surfaces are arranged on two sides of the connection surface of the connecting sheet and the waist cross bar at the bottommost part, and the limiting surfaces limit the rotation angle of the waist cross bar relative to the connecting sheet.
7. The bionic spine structure of wearable exoskeleton of claim 1, wherein a driving part is further arranged on the connecting plate, the driving part is connected with a driving module, and the driving module drives the connecting plate to bend through the driving part.
8. The bionic spine structure of wearable exoskeleton of claim 7, wherein the driving part comprises a wire rope pulley, an axle is arranged in the wire rope pulley in a penetrating way, two ends of the axle are fixed on the re-connecting block through axle positioning holes, a wire rope is wound outside the wire rope pulley, and the wire rope is connected with the driving module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110018859.5A CN112847310A (en) | 2021-01-07 | 2021-01-07 | Bionic spine structure of wearable exoskeleton |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110018859.5A CN112847310A (en) | 2021-01-07 | 2021-01-07 | Bionic spine structure of wearable exoskeleton |
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| CN112847310A true CN112847310A (en) | 2021-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110018859.5A Pending CN112847310A (en) | 2021-01-07 | 2021-01-07 | Bionic spine structure of wearable exoskeleton |
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Citations (7)
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| KR20040072242A (en) * | 2003-02-10 | 2004-08-18 | (주)글로벌엔지니어링 | Device for correction vertebra having massage and calefactive cure ability, and method for control functioning of the same |
| CN103106828A (en) * | 2013-01-29 | 2013-05-15 | 营口巨成教学科技开发有限公司 | Spine simulation structural body for teaching |
| US20130338714A1 (en) * | 2012-06-15 | 2013-12-19 | Arvin Chang | Magnetic implants with improved anatomical compatibility |
| CN203619732U (en) * | 2013-10-11 | 2014-06-04 | 帅晓华 | Sitting posture shaping and spine protecting device |
| CN110202548A (en) * | 2019-06-27 | 2019-09-06 | 迈宝智能科技(苏州)有限公司 | Torque-variable flexibility knee joint structure for wearable ectoskeleton |
| CN110421592A (en) * | 2019-09-03 | 2019-11-08 | 江苏集萃微纳自动化***与装备技术研究所有限公司 | A kind of knee-joint mechanism for wearable ectoskeleton |
| CN112659102A (en) * | 2020-12-16 | 2021-04-16 | 迈宝智能科技(苏州)有限公司 | Flexible spine structure for wearable exoskeleton |
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2021
- 2021-01-07 CN CN202110018859.5A patent/CN112847310A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20040072242A (en) * | 2003-02-10 | 2004-08-18 | (주)글로벌엔지니어링 | Device for correction vertebra having massage and calefactive cure ability, and method for control functioning of the same |
| US20130338714A1 (en) * | 2012-06-15 | 2013-12-19 | Arvin Chang | Magnetic implants with improved anatomical compatibility |
| CN103106828A (en) * | 2013-01-29 | 2013-05-15 | 营口巨成教学科技开发有限公司 | Spine simulation structural body for teaching |
| CN203619732U (en) * | 2013-10-11 | 2014-06-04 | 帅晓华 | Sitting posture shaping and spine protecting device |
| CN110202548A (en) * | 2019-06-27 | 2019-09-06 | 迈宝智能科技(苏州)有限公司 | Torque-variable flexibility knee joint structure for wearable ectoskeleton |
| CN110421592A (en) * | 2019-09-03 | 2019-11-08 | 江苏集萃微纳自动化***与装备技术研究所有限公司 | A kind of knee-joint mechanism for wearable ectoskeleton |
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Application publication date: 20210528 |