Exoskeleton waist device with adjustable gravity center
An exoskeleton and adjustable technology, applied in the direction of program-controlled manipulators, manufacturing tools, manipulators, etc., can solve problems affecting the wearer's normal actions, and achieve the effect of reducing the possibility of falling backwards
Pending Publication Date: 2018-09-21
SOUTHWEST JIAOTONG UNIV
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Problems solved by technology
When the wearer wears the exoskeleton to carry heavy loads, the wearer tends to lean backward due to the backward movement of the overall center of gravity of the mechanism and the wearer, which affects the normal movement of the wearer
Method used
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Embodiment Construction
[0018] The exoskeleton waist device with adjustable center of gravity includes: a cam linkage mechanism, a hip-leg connection part, a spring adjustment device, a waist board, and a back board. There is a telescopic device in the hip joint, which is suitable for wearers of different sizes. A connecting rod fixing frame is arranged on the lower side of the waist plate as the supporting point of the connecting rod in the cam linkage mechanism. One end of the connecting rod is made into the shape of a cam roller groove, so that the cam roller placed on the backrest plate moves in the cam groove. Adhesive tape connection points are arranged on both sides of the waist plate to fix the adhesive tape. After the wearer finishes wearing, the adhesive tape keeps the relative position of the waist plate and the wearer's waist unchanged. A position for fixing the cam is respectively arranged on both sides of the back-to-board. A spring is arranged between the hip joint and the waist plat...
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The invention discloses an exoskeleton waist device with the adjustable gravity center. The exoskeleton waist device comprises a cam and connecting rod mechanism, a hip-leg connecting portion, a spring adjusting device, a waist plate and a leaning plate. A hip joint portion is provided with a telescopic device, and accordingly the exoskeleton waist device can be applied to wearers with different weights. A connecting rod fixing seat is arranged on the lower side of the waist plate and is used as a support point for a connecting rod of the cam and connecting rod mechanism. An end of the connecting rod is in the shape of a cam roller groove, and accordingly cam rollers on the leaning plate can move in cam grooves. Two cam fixing locations are arranged on two sides of the leaning plate. Springs are arranged between a hip joint and the waist plate. The exoskeleton waist device has the advantages that each wearer can carry an object with a certain weight on the back under the joint effectsof mechanical mechanisms and the wearer after the wearer completely wears an exoskeleton, and accordingly the gravity center of an integral system can be positioned in regions in which the system canstably work; the wearers can participate in control, have certain load bearing feel and can experience man-machine interaction procedures instead of being purely driven by machines to move.
Description
technical field [0001] The invention relates to the technical field of exoskeleton robot design, in particular to an exoskeleton waist device with an adjustable center of gravity. Background technique [0002] With the rise of exoskeleton robots, a class of heavy-duty lower limb exoskeleton robots has slowly entered our world. The load-bearing lower extremity exoskeleton is generally composed of four parts: foot, calf, thigh and torso. It generally has three joints similar to humans, from bottom to top are ankle joint, knee joint and hip joint. Recently, the main driving methods of exoskeleton robots include electric drive, hydraulic drive, pneumatic drive and artificial muscle drive. For equipment with the same power, the hydraulic drive method is smaller in size, lighter in weight, and compact in structure. Therefore, for heavy-duty lower extremity exoskeletons, hydraulic drive is generally used. When the wearer wears the exoskeleton to carry heavy loads, the wearer tend...
Claims
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Patent Timeline
Login to View More IPC IPC(8): B25J9/00
CPCB25J9/0006
Inventor 邓斌赵英朋
Owner SOUTHWEST JIAOTONG UNIV