CN205019354U - Booster unit actuating mechanism lightly moves - Google Patents
Booster unit actuating mechanism lightly moves Download PDFInfo
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- CN205019354U CN205019354U CN201520475017.2U CN201520475017U CN205019354U CN 205019354 U CN205019354 U CN 205019354U CN 201520475017 U CN201520475017 U CN 201520475017U CN 205019354 U CN205019354 U CN 205019354U
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- transmission shaft
- power transmission
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- connecting rod
- assisting device
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Abstract
The utility model relates to a booster unit actuating mechanism lightly moves, including thigh linkage segment, shank linkage segment and knee joint axis, the lower extreme of thigh linkage segment with the upper end of shank linkage segment is passed through knee joint axis connects, actuating mechanism is still including being used for the drive the thigh linkage segment with the shank linkage segment extends or crooked element linkage, element linkage's one end with the thigh linkage segment is connected, element linkage's the other end with the shank linkage segment is connected. The utility model discloses a booster unit actuating mechanism lightly moves adopts element linkage to drive thigh linkage segment and shank linkage segment extension or crooked, and the convenience is assembled simply, is maintained in the modularized design, transmission is not taken to the movable part, has greatly simplified the design, greatly reinforcing means reliability and motion flexibility, there is not power device at the shank, the nimble motion of human shank of being convenient for.
Description
Technical field
This utility model relates to power assisting device technical field, particularly a kind of light motion power assisting device actuator.
Background technology
People often can carry out going upstairs in life, climb the mountain, the motion such as by bike; and these operations all can make knee joint bear very large strength; can damage knee joint for a long time, and easily cause human-body fatigue, the personnel for old people or walking with load are all the more so.Along with the continuous progress of scientific and technological level, occurred wearable auxiliary machinery, such device can be assisted old man and the walking of weakling's short distance and be solved the problem run in daily life; Along with the arrival of aging society, this kind of Aided Machine will have wide application space, the requirement that this kind of commodity even will become in each family when effectively controlling cost, and popularity is very high.The crowd of being suitable for is not limited only to still can the middle-aged and elderly people of independent ambulation, also comprises the between twenty and fifty people needing power-assisted to support.
Wearable auxiliary machinery increases intelligence in machinery, and can be coupled in it wearer through configuration, the sub-load can born wearer and bear, this kind of device also becomes man machine exoskeleton system.Patent CN200680006514.1, CN200910020107.1, CN201180028332.5 and CN201310215174.5 are all described with regard to the realization of relevant apparatus.
The exoskeleton system that above-mentioned utility model discloses and device can realize motion assist function, but all realize complexity, with high costs and very heavy, are not suitable for large-scale promotion and popularize.The power assisting device mentioned as patent CN200680006514.1 adopts hydraulic system to drive, and hydraulic system is easily revealed, and is not too applicable to promoting the use of towards masses.Patent 201120010940.0 mentions the power assisting device that a kind of linear electric motors drive, and its linear electric motors are arranged on thigh and calf centre position, and weight is comparatively large, affects wearer leg exercise.The walk-aiding exoskeleton device that patent 201210370654.4 is mentioned adopts motor to drive, and motor is arranged on knee joint place, causes leg weight heavy, is unfavorable for wearer motion.Patent CN201410462145.3 mentions a kind of knee joint power-assisted convalescence device based on lasso trick transmission, and this device adopts lasso trick transmission, and system relies on waist to provide strength to support.For this reason, this device needs great dynamics to be fixed on waist, causes discomfort to wearer, and during normal work, lasso trick constantly moves, and easily wear and tear, system reliability is not high.
Force aid system needs to use motor usually, decelerator equal power device moves to drive human leg, and the general weight of these power set own is larger, power set are arranged on leg can very be unfavorable for human leg's flexible motion, especially lifts lower limb motion to thigh and brings very adverse effect.
Utility model content
This utility model provides the actuator of a kind of light motion power assisting device, is arranged on leg can be very unfavorable for human leg's flexible motion to solve above-mentioned power assisting device power set, especially lifts to thigh the technical problem that lower limb motion brings very adverse effect.
In order to solve the problems of the technologies described above, the utility model proposes the actuator of a kind of light motion power assisting device, comprise thigh link, shank link and knee axis, the lower end of described thigh link is connected by described knee axis with the upper end of described shank link; Described actuator also comprises for driving described thigh link and described shank link to stretch or bending jointed gear unit, one end of described jointed gear unit is connected with described thigh link, and the other end of described jointed gear unit is connected with described shank link.
The beneficial effects of the utility model are: light motion power assisting device of the present utility model actuator, and adopt jointed gear unit to drive thigh link and shank link stretch or bend, modularized design, assembles simple, easy to maintenance; Movable part is belt driver not, greatly simplifies design, greatly intensifier reliability and kinematic dexterity; There is no power set at leg, be convenient to human leg's flexible motion.
Further, described jointed gear unit comprises first connecting rod and second connecting rod, one end of described first connecting rod is connected by the first connecting axle with one end of second connecting rod, the other end of described first connecting rod is connected by the top of line shaft with described thigh link, the other end of described second connecting rod is connected with the top of described shank link by the 3rd connecting axle, on described first connecting rod or described thigh link be provided with power transmission shaft.
Adopt the beneficial effect of above-mentioned further scheme to be: four-bar linkage bearing load is large, manufactures very convenient, easily obtain higher precision, be convenient to the control of light motion power assisting device actuator.
Further, when described thigh link is provided with power transmission shaft, described power transmission shaft is arranged on the top of described thigh link, described power transmission shaft is driven by dynamical system, described power transmission shaft drives described line shaft to rotate, described line shaft swings around it for driving described first connecting rod, and described thigh link freely can rotate around described power transmission shaft.
The beneficial effect of above-mentioned further scheme is adopted to be: when power transmission shaft is arranged on thigh link, line shaft is driven by power transmission shaft, finally drive first connecting rod moving mechanical axis to swing, realize thigh link and shank link stretching, extension or bending, drive human leg to move forward.
Further, when described first connecting rod is provided with power transmission shaft, described power transmission shaft shares described line shaft, and described thigh link can rotate around described line shaft, described line shaft is driven by dynamical system, and described line shaft swings around it for driving described first connecting rod.
Adopt the beneficial effect of above-mentioned further scheme to be: power transmission shaft is set directly at first connecting rod, and structure comparison is compact, drive ratio is more convenient simultaneously.
Further, when described first connecting rod is provided with power transmission shaft, described actuator also comprises third connecting rod, and described third connecting rod is arranged between described line shaft and described power transmission shaft, and described line shaft and described power transmission shaft are fixedly mounted on third connecting rod; Described power transmission shaft and described line shaft drive it to rotate by dynamical system, and drive described first connecting rod to rotate together with described thigh link simultaneously.
Adopt the beneficial effect of above-mentioned further scheme to be: arrange third connecting rod by increasing, line shaft drives it to rotate by dynamical system, and driving first connecting rod rotates together with thigh link simultaneously, its drive efficiency is higher.
Further, described dynamical system is by drive axis described in chain or belt drives.
The beneficial effect of above-mentioned further scheme is adopted to be: by chain or belt drives drive axis, its transmission is more accurate.
Further, described power transmission shaft or described line shaft are provided with clutch, and the side of described clutch is connected in described dynamical system by the first chain, and the opposite side of described clutch is fixed on described power transmission shaft or described line shaft.
The beneficial effect of above-mentioned further scheme is adopted to be: by adopting clutch, dynamical system can be realized and upload freely switching of unloading, making to upload when needs power power for human motion provides power-assisted, when not needing power, human leg's relevant apparatus can freely swing, and does not affect the freely movable of wearer; By adopting the flexible gearing such as chain or belt, dynamical system larger for the weight such as motor reducer can be fixed on human body waist appropriate location, make shaft portion thin and next to the skin, thus reaching the object of snug fit; Meanwhile, described device can support more motor, can reduce the cost of whole device.
Further, the first sprocket wheel and the second sprocket wheel is provided with between described dynamical system and described line shaft, described first sprocket wheel is arranged on described power transmission shaft, described second sprocket wheel and described first connecting rod are fixed together, be arranged on described line shaft, described second sprocket wheel connects described first sprocket wheel by the 3rd chain, and described first sprocket wheel connects described dynamical system by the second chain.
The beneficial effect of above-mentioned further scheme is adopted to be: to connect dynamical system and line shaft by the first sprocket wheel, improve the transmission efficiency of actuator.
Further, between described dynamical system and described power transmission shaft, or be provided with the first sprocket wheel between described dynamical system and described line shaft, described first sprocket wheel and described first connecting rod link together, be fixed on described power transmission shaft or described line shaft, described dynamical system is connected with described sprocket wheel by the second chain.
The beneficial effect of above-mentioned further scheme is adopted to be: to connect dynamical system and line shaft or power transmission shaft by the first sprocket wheel, improve the transmission efficiency of actuator.
Further, described dynamical system is divided into two-way by drive mechanism, drives the first power chain and the second power chain to rotate respectively; Described line shaft is provided with the second sprocket wheel and the 3rd sprocket wheel, described 3rd sprocket wheel and described first connecting rod are fixed together, described second sprocket wheel and described thigh link are fixed together, described second sprocket wheel is independently connected with described second power chain with described first power chain by two chains with described 3rd sprocket wheel, and described dynamical system independently controls described first connecting rod by two chains and described thigh link rotates.
The beneficial effect of above-mentioned further scheme is adopted to be: leg link structure can be controlled by dynamical system and form stable rigidity supporting structure, for human body provides support power or motive force, enhance support strength and the controllability of structure.
Further, in described dynamical system, be provided with clutch, the side of described clutch lead to be fixed on described dynamical system power transmission shaft on, the opposite side of described clutch connects described power transmission shaft or described line shaft by power transmission shaft, chain or belt.
The beneficial effect of above-mentioned further scheme is adopted to be: by adopting clutch, dynamical system can be realized and upload freely switching of unloading, making to upload when needs power power for human motion provides power-assisted, when not needing power, human leg's relevant apparatus can freely swing, and does not affect the freely movable of wearer; By adopting the flexible gearing such as chain or belt, dynamical system larger for the weight such as motor reducer can be fixed on human body waist appropriate location, make shaft portion thin and next to the skin, thus reaching the object of snug fit; Meanwhile, described device can support more motor, can reduce the cost of whole device.
Further, described dynamical system is with clutch, described clutch is fixed in described dynamical system, and the side of described clutch connects described dynamical system by power transmission shaft, chain or belt, and the opposite side of another described clutch is connected by the second chain with described first sprocket wheel.
The beneficial effect of above-mentioned further scheme is adopted to be: by adopting clutch, dynamical system can be realized and upload freely switching of unloading, making to upload when needs power power for human motion provides power-assisted, when not needing power, human leg's relevant apparatus can freely swing, and does not affect the freely movable of wearer; By adopting the flexible gearing such as chain or belt, dynamical system larger for the weight such as motor reducer can be fixed on human body waist appropriate location, make shaft portion thin and next to the skin, thus reaching the object of snug fit; Meanwhile, described device can support more motor, can reduce the cost of whole device.
Further, described dynamical system is with clutch, described clutch is fixed in described dynamical system, and the side of described clutch connects described dynamical system by power transmission shaft, chain or belt, and the opposite side of described clutch is connected by the second chain with described first sprocket wheel.
The beneficial effect of above-mentioned further scheme is adopted to be: by adopting clutch, dynamical system can be realized and upload freely switching of unloading, making to upload when needs power power for human motion provides power-assisted, when not needing power, human leg's relevant apparatus can freely swing, and does not affect the freely movable of wearer; By adopting the flexible gearing such as chain or belt, dynamical system larger for the weight such as motor reducer can be fixed on human body waist appropriate location, make shaft portion thin and next to the skin, thus reaching the object of snug fit; Meanwhile, described device can support more motor, can reduce the cost of whole device.
Further, described dynamical system is with clutch, described clutch is fixed in described dynamical system, the side of described clutch connects described dynamical system by power transmission shaft, chain or belt, and the opposite side of described clutch is divided into two-way by drive mechanism and is connected with described second power chain with described first power chain respectively.
The beneficial effect of above-mentioned further scheme is adopted to be: by adopting clutch, dynamical system can be realized and upload freely switching of unloading, making to upload when needs power power for human motion provides power-assisted, when not needing power, human leg's relevant apparatus can freely swing, and does not affect the freely movable of wearer; By adopting the flexible gearing such as chain or belt, dynamical system larger for the weight such as motor reducer can be fixed on human body waist appropriate location, make shaft portion thin and next to the skin, thus reaching the object of snug fit; Meanwhile, described device can support more motor, can reduce the cost of whole device.
Further, described first connecting rod is fixed with the first gear, described first gear is fixedly connected with the first sprocket wheel; Described thigh link upper end is fixedly connected with second gear coaxial with described line shaft, and described first gear and described second gear are closely engaged; Described line shaft and described power transmission shaft are fixedly mounted on third connecting rod.
Adopt the beneficial effect of above-mentioned further scheme to be: by gear-driven mode, to realize the transmission of line shaft and first connecting rod, its gear ratio is comparatively accurate, and efficiency is high, compact conformation, reliable operation, and the life-span is long.
Further, the rotating shaft of described dynamical system Power output, rotating shaft between described dynamical system and described clutch, the rotating shaft of described clutch, rotating shaft between described clutch and described line shaft, rotating shaft on rotating shaft on described line shaft or described power transmission shaft is provided with torsion elastic device, described rotating shaft is two coaxially nested wheels and forms, be respectively driving wheel and drive, the side of described torsion elastic device connects described driving wheel, the opposite side connection for transmission wheel of described torsion elastic device, moment is transmitted by flexible member between described driving wheel and described drive.
The beneficial effect of above-mentioned further scheme is adopted to be: to adopt described torsion elastic device can realize Flexible Transmission and torsion is measured, the pliability between the human body of actuator described in the utility model and this utility model device can be increased and contribute to auxiliary judgment human motion and be intended to, strengthen the comfort level that human body is dressed.
Further, described torsion elastic device also comprises pulling force sensor or pressure transducer, and described pulling force sensor or described pressure transducer are connected with described flexible member, in order to measure the pulling force or pressure that flexible member bears.
Adopt the beneficial effect of above-mentioned further scheme to be: to adopt pulling force sensor or pressure transducer, detect pulling force or pressure that flexible member bears, make sensing control more accurate.
Further, described torsion elastic device comprises even number torsion sensing unit, described each torsion sensing unit comprises a pulling force sensor and a flexible member, described pulling force sensor or described pressure transducer are arranged on the side of described driving wheel, and described flexible member is connected with described drive; Described pulling force sensor or described pressure transducer are arranged on the side of described drive, and described flexible member is connected with described driving wheel.
Adopting the beneficial effect of above-mentioned further scheme to be: by arranging even number torsion sensing unit, making the sensing direction of torsion paired, being convenient to control.
Further, described even number torsion sensing unit is equally divided into two groups, and described two groups of torsion Flexible elements with the axis of described driving wheel axisymmetricly.
Adopt the beneficial effect of above-mentioned further scheme to be: with the axis of driving wheel axisymmetricly, the direction of its torsion detected also is symmetrical to two groups of torsion Flexible elements, it is more accurate to make to control.
Further, described torsion Flexible element of often organizing comprises two torsion Flexible elements.
The beneficial effect of above-mentioned further scheme is adopted to be: described torsion Flexible element of often organizing comprises two torsion Flexible elements, and amounts to four torsion Flexible elements, can detect the torsion on four direction, the control for actuator provides the torque data of abundance.
Further, the actuator of described light motion power assisting device also comprises fixture, is also provided with acceleration of gravity sensing device in described fixture.
The beneficial effect of above-mentioned further scheme is adopted to be: to measure gravity direction acceleration change auxiliary judgment human motion intention by acceleration of gravity sensing device.
Further, described performance element also comprises foot structure and ankle axle, and the lower end of described shank link is connected by described ankle axle with described foot structure.
Adopt the beneficial effect of above-mentioned further scheme to be: foot structure is set, human body is dressed more convenient.
Further, described foot structure is provided with pressure sensor device.
Adopt the beneficial effect of above-mentioned further scheme to be: in foot structure, arrange pressure sensor device, control power assisting device by the pressure of pressure sensor device detection human foot, it is more accurate to make to control.
Further, described pressure sensor device be arranged on the below of described foot structure and/or the upper of described ankle axle or its below.
The beneficial effect of above-mentioned further scheme is adopted to be: to be arranged on by pressure sensor device on the diverse location of foot structure, the foot pressure under different conditions can be detected.
Further, the transmission between described line shaft and power transmission shaft is realized by gears meshing.
Adopt the beneficial effect of above-mentioned further scheme to be: by gear-driven mode, to realize the transmission of line shaft and power transmission shaft, its gear ratio is comparatively accurate, and efficiency is high, compact conformation, reliable operation, and the life-span is long.
Further, described thigh link comprises the two-part tube-in-tube structure for adjustable in length, to comprise on thigh linkage section under linkage section and thigh, on described thigh, the sleeve outer wall of linkage section is provided with dentalation, under described thigh the inwall of linkage section be provided with match with described dentalation, limit described in thigh on the Wrench-type clamp of linkage section slide downward or spring clamp.
Adopt the beneficial effect of above-mentioned further scheme to be: Wrench-type clamp or spring clamp fix and adjust the thigh link of two-part tube-in-tube structure, make the convenient adjustment of the height of whole actuator, be user-friendly to.
Further, described shank link comprises the two-part tube-in-tube structure for adjustable in length, to comprise on shank linkage section under linkage section and shank, on described shank, the sleeve outer wall of linkage section is provided with dentalation, under described shank the inwall of linkage section be provided with match with described dentalation, limit described in shank on the Wrench-type clamp of linkage section slide downward or spring clamp.
Adopt the beneficial effect of above-mentioned further scheme to be: Wrench-type clamp or spring clamp fix and adjust the shank link of two-part tube-in-tube structure, make the convenient adjustment of the height of whole actuator, be user-friendly to.
Accompanying drawing explanation
Fig. 1 is this utility model actuator embodiment one structure chart,
Fig. 2 is the actuator of this utility model embodiment two and the structure chart of body-coupled,
Fig. 3 is this utility model fixture composition schematic diagram,
Fig. 4 is the partial view of this utility model embodiment two running part,
Fig. 5 is the actuator of this utility model embodiment three and the structure chart of body-coupled,
Fig. 6 is the front view of this utility model embodiment three running part,
Fig. 7 is the top view of this utility model embodiment three running part,
Fig. 8 is the actuator of this utility model embodiment four and the structure chart of body-coupled,
Fig. 9 is the gear drive partial view of this utility model embodiment four,
Figure 10 is torsion elastic transmission device syndeton schematic diagram in Fig. 8,
Figure 11 is this utility model thigh link structure of adjusting length figure,
Figure 12 is this utility model shank link structure of adjusting length figure.
In accompanying drawing, the list of parts representated by each label is as follows:
10, fixture, 11, fixture waist extension, 12, clutch, 121, first power chain, 122, second power chain, 13, energy source and power unit, 131, battery and associated drives management circuit, 132, motor, 133, decelerator, 14, signal analysis and processing unit, 141, main control processor, 142, information storage unit, 143, Signal reception transmission processing circuit, 144, signal drive circuit, 201, power transmission shaft, 202, first connecting rod, 203, first connecting axle, 204, second connecting rod, 205, 3rd connecting axle, 206, line shaft, 207, thigh link, 208, knee axis, 209, shank link, 210, ankle joint axle, 211, foot structure, 212, third connecting rod.2011, first sprocket wheel, 2021, second sprocket wheel, 2013, first gear, 2071, second gear, 2074, linkage section on thigh, 2075, linkage section under thigh, 2091, linkage section on shank, 2092, linkage section under shank, 2012, second chain, 2072, 3rd sprocket wheel, 2073, 4th chain, 20111, foreign steamer, 20112, inside take turns, 20113a, first flexible member, 20113b, second flexible member, 20113c, 3rd flexible member, 20113d, 4th flexible member, 20114a, first pulling force sensor, 20114b, second pulling force sensor, 20114c, 3rd pulling force sensor, 20114d, 4th pulling force sensor,
Detailed description of the invention
Below in conjunction with drawings and Examples, this utility model is further described.
This utility model actuator embodiment one structure chart is see Fig. 1, a kind of light motion power assisting device actuator, comprise thigh link 207, shank link 209 and knee axis 208, the lower end of thigh link 207 is connected by knee axis 208 with the upper end of shank link 209, actuator also comprises for driving thigh link 207 and shank link 209 to stretch or bending jointed gear unit, and one end of jointed gear unit is connected with thigh link 207, and the other end of jointed gear unit is connected with shank link 209, jointed gear unit comprises first connecting rod 202 and second connecting rod 204, one end of first connecting rod 202 is connected by the first connecting axle 203 with one end of second connecting rod 204, the other end of first connecting rod 202 is connected with the top of thigh link 207 by line shaft 206, the other end of second connecting rod 204 is connected with the top of shank link 209 by the 3rd connecting axle 205, when thigh link 207 is provided with power transmission shaft 201, power transmission shaft 201 is arranged on the top of thigh link 207, power transmission shaft 201 is driven by dynamical system, power transmission shaft 201 drives line shaft 206 to rotate, line shaft 206 swings around it for driving first connecting rod 202, thigh link 207 freely can rotate around power transmission shaft 201, performance element 20 also comprises foot structure 211 and ankle axle 210, and the lower end of shank link 209 is connected by ankle axle 210 with foot structure 211.
The actuator of light motion power assisting device, four-bar linkage is adopted to drive thigh link and shank link stretch or bend, bearing load is large, manufacture very convenient, the precision that easy acquisition is higher, be convenient to the control of light motion power assisting device actuator, modularized design, assemble simple, easy to maintenance; Movable part is belt driver not, greatly simplifies design, greatly intensifier reliability and kinematic dexterity; There is no power set at leg, be convenient to human leg's flexible motion; Foot structure is set, human body is dressed more convenient.
The actuator of this utility model embodiment two and the structure chart of body-coupled are see Fig. 2, compared with embodiment one, its difference is, actuator adds fixture 10 at waist, fixture 10 is arranged near human body waist, and by near 11 to the human hip of waist extension, waist extension 11 connection for transmission axle 201, the bottom of foot structure 211 is provided with pressure sensor device, dynamical system is arranged in fixture 10, with there being the first sprocket wheel 2011 on power transmission shaft 201, first connecting rod 202 is fixed with the second sprocket wheel 2021 on line shaft 206, second sprocket wheel 2021 is by the first sprocket wheel 2011 on chain connection for transmission axle 201, dynamical system in fixture 10 is connected with the first sprocket wheel 2011 on power transmission shaft 201 by chain, the first sprocket wheel 2011 on power transmission shaft 201 is driven to rotate, rotated by chain-driving second sprocket wheel 2021 again, and then promotion first connecting rod 202 swings around line shaft 206, first connecting rod 202 drives second connecting rod 204 to move together with thigh link 207, thus promotion thigh and calf opens or closes, the human body outputting power that Xiang Yuqi is fixed together.
The composition schematic diagram of this utility model fixture 10 is see Fig. 3, fixture 10 comprises energy source and power unit 13, signal analysis and processing unit 14 and fixture internal power cord, energy source and power unit 13 comprises battery and associated drives management circuit 131, motor 132 and decelerator 133, electric machine controller etc., and signal analysis and processing unit 14 comprises main control processor 141, information storage unit 142, Signal reception transmission processing circuit 143 and signal drive circuit 144 etc.; Battery in energy source and power unit 13 provides electric energy for signal analysis and processing unit 14.Involved by energy source and power unit 13, battery, motor, decelerator, motor-drive circuit, electric power management circuit all can adopt common technology, repeat no more; Main control processor 141 involved by signal analysis and processing unit 14, information storage unit 142, Signal reception transtation mission circuit 143 etc. also can adopt common technology, also repeat no more.
The partial view of this utility model embodiment two running part is see Fig. 4, first connecting rod 202 upper end on line shaft 206 with the second sprocket wheel 2021, second sprocket wheel 2021 is by the first sprocket wheel 2011 on chain connection for transmission axle 201, this utility model device dynamical system drives the first sprocket wheel 2011 to rotate by the second chain 2012, and then drive the second sprocket wheel 2021 to rotate, and then first connecting rod 202 is driven to rotate.
The actuator of this utility model embodiment three and the structure chart of body-coupled are see Fig. 5, compared with embodiment two, its difference is, power transmission shaft 201 common power axle 206, line shaft 206 is all driven by dynamical system, and thigh link 207 can rotate by moving mechanical axis 206.
The structure chart of this utility model embodiment three running part is see Fig. 6-Fig. 7, dynamical system is with clutch 12, clutch side connects dynamical system by power transmission shaft, chain or belt, the opposite side of clutch is divided into two-way respectively with the first power chain 121 by drive mechanism and is connected with the second power chain 122, and the rotation of clutch can drive the first power chain 121 and the second power chain 122 to rotate respectively; Line shaft 206 is provided with two coaxial sprocket wheels, be the first sprocket wheel 2011 and the 3rd sprocket wheel 2072, be fixed together with first connecting rod 202 and thigh link 207 respectively, the first sprocket wheel 2011 is independently connected with the second power chain 122 with the first power chain 121 by two chains with the 3rd sprocket wheel 2072; First power chain 121 and the second power chain 122 are fixed on waist extension 11 respectively by axle; Drive first connecting rod 202 and thigh link 207 swing by its rotation, thus change its angle, realize angle between dynamical system control thigh link 207 and first connecting rod 202 and become large or diminish.
The actuator of this utility model embodiment four and the structure chart of body-coupled are see Fig. 8, first connecting rod 202 is provided with power transmission shaft 201, thigh link 207 is provided with line shaft 206, actuator also comprises third connecting rod 212, third connecting rod 212 is arranged between line shaft 206 and power transmission shaft 201, and line shaft 206 and power transmission shaft 201 are fixedly mounted on third connecting rod 212; Power transmission shaft 201 and line shaft 206 drive it to rotate by dynamical system, and drive first connecting rod 202 to rotate together with thigh link 207 simultaneously.
The gear drive partial view of this utility model embodiment four, see Fig. 9, is fixed with the first gear 2013 and the first sprocket wheel 2011, all can rotates around power transmission shaft 201 in first connecting rod 202 upper end; Be fixed with the second gear 2071 in thigh link 207 upper end, can rotate by moving mechanical axis 206; Line shaft 206 and power transmission shaft 201 are all fixed on third connecting rod 212; First gear 2013 and the second gear 2071 are closely interlocked.First sprocket wheel 2011 is connected with the clutch 12 be fixed on waist extension 11 by the second chain 2012; Power from fixture 10 internally-powered system can be with dynamic clutch 12 to rotate, clutch 12 drives the first sprocket wheel 2011 to rotate by the second chain 2012, first sprocket wheel 2011 drives the first gear 2013 and the second gear 2071 to rotate again, thus drives variable angle between thigh link 207 and first connecting rod 202; And then drive thigh link 207 and shank link 209 stretches or bending, for human body provides motive force or support force.
In Fig. 8, torsion elastic transmission device syndeton schematic diagram is see Figure 10, with torsion elastic device in the rotating shaft of power transmission shaft 201, with the first sprocket wheel 2011 on power transmission shaft 201, the rotating shaft of power transmission shaft 201 is made up of two coaxially nested wheels, foreign steamer is driving wheel 20111, be fixed together with the first sprocket wheel 2011, inside take turns as drive 20112, be fixed together with first connecting rod 202, transmission is realized by first to fourth flexible member 20113a-20113d between driving wheel 20111 and drive 20112, flexible member comprises spring, leaf spring, liquid spring, air spring, elastomer, stretch cord, rubber etc., first to fourth flexible member 20113a-20113d is also connected to measure each flexible member respectively with first to fourth pulling force sensor 20114a-20114d respectively and bears value of thrust.
When the first sprocket wheel 2011 rotates clockwise, by tensile elasticity element 20113b and 20113d, compression elastic element 20113a and 20113c, drive first connecting rod 202 is rotated clockwise, pulling force sensor 20114b and 20114d can sense that pulling force increases, 20113a and 20113c can sense that pulling force reduces; The situation that first sprocket wheel 2011 is rotated counterclockwise is similar; Otherwise if the first sprocket wheel 2011 does not turn, first connecting rod 202 rotates under human body drives, and situation is also similar.Sensor sensing to value of thrust can send the control system of this utility model power assisting device to assist control motor speed.
This utility model thigh link structure of adjusting length figure is see Figure 11, thigh link 207 comprises the two-part tube-in-tube structure for adjustable in length, to comprise on thigh linkage section 2075 under linkage section 2074 and thigh, on thigh, the sleeve outer wall of linkage section 2074 is provided with dentalation, under thigh the inwall of linkage section 2075 be provided with match with dentalation, the Wrench-type clamp of linkage section 2074 slide downward or spring clamp on the thigh that limits.
This utility model shank link structure of adjusting length figure is see Figure 12, shank link 209 comprises the two-part tube-in-tube structure for adjustable in length, to comprise on shank linkage section 2092 under linkage section 2091 and shank, on shank, the sleeve outer wall of linkage section 2091 is provided with dentalation, under shank the inwall of linkage section 2092 be provided with match with dentalation, the Wrench-type clamp of linkage section 2091 slide downward or spring clamp on the shank that limits., with Wrench-type clamp on urceolus, inner tank theca is with the dentalation matched; Clamp can unclamp or closed, and inner core retractable when unclamping clamp, during closed clamp, the dentalation of inner tank theca is engaged with clamp, is fixed together by inside and outside sleeve, can bears the weight that human body is larger.Make the convenient adjustment of the height of whole actuator, be user-friendly to.
In this utility model, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or integral; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals or the interaction relationship of two elements.For the ordinary skill in the art, the concrete meaning of above-mentioned term in this utility model can be understood as the case may be.
In this utility model, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or D score can comprise the first and second features and directly contact, also can comprise the first and second features and not be directly contact but by the other characterisation contact between them.And, fisrt feature second feature " on ", " top " and " above " comprise fisrt feature directly over second feature and oblique upper, or only represent that fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " below " and " below " comprise fisrt feature immediately below second feature and tiltedly below, or only represent that fisrt feature level height is less than second feature.
Above a kind of light motion power assisting device actuator of this utility model is described in detail, apply specific case herein to set forth principle of the present utility model and embodiment, the explanation of above embodiment just understands core concept of the present utility model for helping; Meanwhile, for one of ordinary skill in the art, according to thought of the present utility model, all will change in specific embodiments and applications, in sum, this description should not be construed as restriction of the present utility model.
Claims (27)
1. light motion power assisting device actuator, comprise thigh link (207), shank link (209) and knee axis (208), the lower end of described thigh link (207) is connected by described knee axis (208) with the upper end of described shank link (209); It is characterized in that, described actuator also comprises for driving described thigh link (207) and described shank link (209) to stretch or bending jointed gear unit, one end of described jointed gear unit is connected with described thigh link (207), and the other end of described jointed gear unit is connected with described shank link (209).
2. light motion power assisting device according to claim 1 actuator, it is characterized in that, described jointed gear unit comprises first connecting rod (202) and second connecting rod (204), one end of described first connecting rod (202) is connected by the first connecting axle (203) with one end of second connecting rod (204), the other end of described first connecting rod (202) is connected with the top of described thigh link (207) by line shaft (206), the other end of described second connecting rod (204) is connected with the top of described shank link (209) by the 3rd connecting axle (205), described first connecting rod (202) is gone up or described thigh link (207) is provided with power transmission shaft (201).
3. light motion power assisting device according to claim 2 actuator, it is characterized in that, when described thigh link (207) is provided with power transmission shaft (201), described power transmission shaft (201) is arranged on the top of described thigh link (207), described power transmission shaft (201) is driven by dynamical system, described power transmission shaft (201) drives described line shaft (206) to rotate, described line shaft (206) swings around it for driving described first connecting rod (202), described thigh link (207) freely can rotate around described power transmission shaft (201).
4. light motion power assisting device according to claim 2 actuator, it is characterized in that, when described first connecting rod (202) is provided with power transmission shaft (201), described power transmission shaft (201) shares described line shaft (206), described thigh link (207) can rotate around described line shaft (206), described line shaft (206) is driven by dynamical system, and described line shaft (206) swings around it for driving described first connecting rod (202).
5. light motion power assisting device according to claim 2 actuator, it is characterized in that, when described first connecting rod (202) is provided with power transmission shaft (201), described actuator also comprises third connecting rod (212), described third connecting rod (212) is arranged between described line shaft (206) and described power transmission shaft (201), and described line shaft (206) and described power transmission shaft (201) are fixedly mounted on third connecting rod (212); Described power transmission shaft (201) and described line shaft (206) drive it to rotate by dynamical system, and drive described first connecting rod (202) and described thigh link (207) to rotate together simultaneously.
6. the light motion power assisting device actuator according to the arbitrary claim of claim 3 to 5, is characterized in that, described dynamical system is rotated by power transmission shaft (201) described in chain or belt drives.
7. the light motion power assisting device actuator according to the arbitrary claim of claim 3 to 5, it is characterized in that, described power transmission shaft (201) or described line shaft (206) are provided with clutch, the side of described clutch is connected in described dynamical system by the first chain, and the opposite side of described clutch is fixed on described power transmission shaft (201) or described line shaft (206).
8. light motion power assisting device according to claim 3 actuator, it is characterized in that, the first sprocket wheel (2011) and the second sprocket wheel (2021) is provided with between described dynamical system and described line shaft (206), described first sprocket wheel (2011) is arranged on described power transmission shaft (201), described second sprocket wheel (2021) and described first connecting rod (202) are fixed together, be arranged on described line shaft (206), described second sprocket wheel (2021) connects described first sprocket wheel (2011) by the 3rd chain, described first sprocket wheel (2011) connects described dynamical system by the second chain (2012).
9. the light motion power assisting device actuator according to claim 4 or 5, it is characterized in that, between described dynamical system and described power transmission shaft (201), or be provided with the first sprocket wheel (2011) between described dynamical system and described line shaft (206), described first sprocket wheel (2011) and described first connecting rod (202) link together, be fixed on described power transmission shaft (201) or described line shaft (206), described dynamical system is connected with described sprocket wheel (2011) by the second chain (2012).
10. light motion power assisting device according to claim 4 actuator, is characterized in that, described dynamical system is divided into two-way by drive mechanism, drives the first power chain (121) and the second power chain (122) to rotate respectively, described line shaft (206) is provided with the second sprocket wheel (2011) and the 3rd sprocket wheel (2072), described second sprocket wheel (2011) and described first connecting rod (202) are fixed together, described 3rd sprocket wheel (2072) and described thigh link (207) are fixed together, described second sprocket wheel (2011) is independently connected with described second power chain (122) with described first power chain (121) by two chains with described 3rd sprocket wheel (2072), described dynamical system independently controls described first connecting rod (202) by two chains and described thigh link (207) rotates.
11. light motion power assisting device actuators according to the arbitrary claim of claim 3 to 5, it is characterized in that, clutch is provided with in described dynamical system, the side of described clutch lead to be fixed on described dynamical system power transmission shaft on, the opposite side of described clutch connects described power transmission shaft (201) or described line shaft (206) by power transmission shaft, chain or belt.
12. light motion power assisting device according to claim 8 actuators, it is characterized in that, described dynamical system is with clutch, described clutch is fixed in described dynamical system, the side of described clutch connects described dynamical system by power transmission shaft, chain or belt, and the opposite side of another described clutch is connected (2012) by the second chain with described first sprocket wheel (2011).
13. light motion power assisting device according to claim 9 actuators, it is characterized in that, described dynamical system is with clutch, described clutch is fixed in described dynamical system, the side of described clutch connects described dynamical system by power transmission shaft, chain or belt, and the opposite side of described clutch is connected (2012) by the second chain with described first sprocket wheel (2011).
14. light motion power assisting device according to claim 10 actuators, it is characterized in that, described dynamical system is with clutch, described clutch is fixed in described dynamical system, the side of described clutch connects described dynamical system by power transmission shaft, chain or belt, and the opposite side of described clutch is divided into two-way by drive mechanism and is connected with described second power chain (122) with described first power chain (121) respectively.
15. light motion power assisting device according to claim 5 actuators, it is characterized in that, described first connecting rod (202) is fixed with the first gear (2013), described first gear (2013) is fixedly connected with the first sprocket wheel (2011); Described thigh link (207) upper end is fixedly connected with second gear (2071) coaxial with described line shaft (206), and described first gear (2013) and described second gear (2071) are closely engaged; Described line shaft (206) and described power transmission shaft (201) are fixedly mounted on third connecting rod (212).
16. light motion power assisting device according to claim 7 actuators, it is characterized in that, the rotating shaft of described dynamical system Power output, rotating shaft between described dynamical system and described clutch, the rotating shaft of described clutch, rotating shaft between described clutch and described line shaft (206), rotating shaft on rotating shaft on described line shaft (206) or described power transmission shaft (201) is provided with torsion elastic device, described rotating shaft is two coaxially nested wheels and forms, be respectively driving wheel and drive, the side of described torsion elastic device connects described driving wheel, the opposite side of described torsion elastic device connects described drive, moment is transmitted by flexible member between described driving wheel and drive.
17. light motion power assisting device according to claim 16 actuators, it is characterized in that, described torsion elastic device also comprises pulling force sensor or pressure transducer, described pulling force sensor or described pressure transducer are connected with described flexible member, in order to measure the pulling force or pressure that flexible member bears.
18. light motion power assisting device according to claim 17 actuators, it is characterized in that, described torsion elastic device comprises even number torsion sensing unit, described each torsion sensing unit comprises a pulling force sensor and a flexible member, described pulling force sensor or described pressure transducer are arranged on the side of described driving wheel, and described flexible member is connected with described drive; Or described pulling force sensor or described pressure transducer are arranged on the side of described drive, and described flexible member is connected with described driving wheel.
19. light motion power assisting device according to claim 18 actuators, is characterized in that, described even number torsion sensing unit is equally divided into two groups, and described two groups of torsion Flexible elements with the axis of described driving wheel axisymmetricly.
20. light motion power assisting device according to claim 19 actuators, is characterized in that, described torsion Flexible element of often organizing comprises two torsion Flexible elements.
21. light motion power assisting device actuators according to the arbitrary claim of claim 1 to 5, it is characterized in that, the actuator of described light motion power assisting device also comprises fixture, is also provided with acceleration of gravity sensing device in described fixture.
22. light motion power assisting device actuators according to the arbitrary claim of claim 1 to 5, it is characterized in that, described performance element (20) also comprises foot structure (211) and ankle axle (210), and the lower end of described shank link (209) is connected by described ankle axle (210) with described foot structure (211).
23. light motion power assisting device according to claim 22 actuators, is characterized in that, described foot structure (211) is provided with pressure sensor device.
24. light motion power assisting device according to claim 23 actuators, is characterized in that, described pressure sensor device be arranged on the below of described foot structure (211) and/or the upper of described ankle axle (210) or its below.
25. light motion power assisting device according to claim 8 actuators, is characterized in that, the transmission between described line shaft (206) and power transmission shaft (201) is realized by gears meshing.
26. light motion power assisting device actuators according to the arbitrary claim of claim 1 to 5, it is characterized in that, described thigh link (207) comprises the two-part tube-in-tube structure for adjustable in length, comprise linkage section (2075) under linkage section on thigh (2074) and thigh, on described thigh, the sleeve outer wall of linkage section (2074) is provided with dentalation, under described thigh, the inwall of linkage section (2075) is provided with and matches with described dentalation, the Wrench-type clamp of linkage section (2074) slide downward or spring clamp on thigh described in restriction.
27. light motion power assisting device actuators according to the arbitrary claim of claim 1 to 5, it is characterized in that, described shank link (209) comprises the two-part tube-in-tube structure for adjustable in length, comprise linkage section (2092) under linkage section on shank (2091) and shank, on described shank, the sleeve outer wall of linkage section (2091) is provided with dentalation, under described shank, the inwall of linkage section (2092) is provided with and matches with described dentalation, the Wrench-type clamp of linkage section (2091) slide downward or spring clamp on shank described in restriction.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520475017.2U CN205019354U (en) | 2015-07-03 | 2015-07-03 | Booster unit actuating mechanism lightly moves |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520475017.2U CN205019354U (en) | 2015-07-03 | 2015-07-03 | Booster unit actuating mechanism lightly moves |
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| CN205019354U true CN205019354U (en) | 2016-02-10 |
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| CN201520475017.2U Withdrawn - After Issue CN205019354U (en) | 2015-07-03 | 2015-07-03 | Booster unit actuating mechanism lightly moves |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106309082A (en) * | 2015-07-03 | 2017-01-11 | 深圳市肯綮科技有限公司 | Execution mechanism of portable exercise assisting device |
| CN106333830A (en) * | 2016-09-20 | 2017-01-18 | 合肥工业大学 | Walking aiding mechanism of lower limb rehabilitation robot |
| CN106491319A (en) * | 2016-12-01 | 2017-03-15 | 北京理工大学 | A kind of wearable knee joint power-assisting robot |
| CN107361992A (en) * | 2016-05-13 | 2017-11-21 | 深圳市肯綮科技有限公司 | A kind of human body lower limbs move power assisting device |
| CN107411939A (en) * | 2017-07-24 | 2017-12-01 | 燕山大学 | A kind of special power-assisted healing robot of single lower limb individuals with disabilities |
| CN108743246A (en) * | 2017-03-28 | 2018-11-06 | 本田技研工业株式会社 | Limb action auxiliary device |
| CN109419607A (en) * | 2017-09-04 | 2019-03-05 | 三星电子株式会社 | Exercise aid device |
| CN109718064A (en) * | 2017-10-31 | 2019-05-07 | 松下知识产权经营株式会社 | Auxiliary device, householder method and program |
| CN109718061A (en) * | 2017-10-31 | 2019-05-07 | 松下知识产权经营株式会社 | Auxiliary device, householder method and program |
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2015
- 2015-07-03 CN CN201520475017.2U patent/CN205019354U/en not_active Withdrawn - After Issue
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106309082A (en) * | 2015-07-03 | 2017-01-11 | 深圳市肯綮科技有限公司 | Execution mechanism of portable exercise assisting device |
| CN107361992A (en) * | 2016-05-13 | 2017-11-21 | 深圳市肯綮科技有限公司 | A kind of human body lower limbs move power assisting device |
| CN106333830A (en) * | 2016-09-20 | 2017-01-18 | 合肥工业大学 | Walking aiding mechanism of lower limb rehabilitation robot |
| CN106491319A (en) * | 2016-12-01 | 2017-03-15 | 北京理工大学 | A kind of wearable knee joint power-assisting robot |
| CN108743246A (en) * | 2017-03-28 | 2018-11-06 | 本田技研工业株式会社 | Limb action auxiliary device |
| CN107411939A (en) * | 2017-07-24 | 2017-12-01 | 燕山大学 | A kind of special power-assisted healing robot of single lower limb individuals with disabilities |
| CN107411939B (en) * | 2017-07-24 | 2019-09-27 | 燕山大学 | A kind of dedicated power-assisted healing robot of single lower limb individuals with disabilities |
| CN109419607A (en) * | 2017-09-04 | 2019-03-05 | 三星电子株式会社 | Exercise aid device |
| CN109718064A (en) * | 2017-10-31 | 2019-05-07 | 松下知识产权经营株式会社 | Auxiliary device, householder method and program |
| CN109718061A (en) * | 2017-10-31 | 2019-05-07 | 松下知识产权经营株式会社 | Auxiliary device, householder method and program |
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