Elastic joint resetting structure of mechanical bionic exoskeleton

Abstract

The utility model discloses a joint elastic reset structure of a mechanical bionic exoskeleton, which comprises an elastic piece arranged between two joint parts, and the two ends of the elastic piece are respectively provided with an expansion part with the diameter larger than that of the main body of the elastic piece. And clamping parts of which the diameters are smaller than those of the corresponding expanding parts are respectively arranged on the joint parts. The joint has the advantages that the structure is simple and reasonable, the elastic piece is arranged between the two joint components, the expansion parts are arranged at the two ends of the elastic piece respectively, the clamping parts are arranged on the joint components respectively, after connection, due to the arrangement of the expansion parts, the elastic piece cannot be disengaged from the clamping parts, and machining and installation are very convenient.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical bionic exoskeleton manufacturing, in particular to a joint elastic resetting structure of a mechanical bionic exoskeleton. Background Art

[0002] With the development of science and technology, the degree of mechanization in many industries is constantly improving. With the help of machinery, many physical labors that were originally done by workers can be completed. However, in some occasions, manpower is still needed to complete the handling work. When workers complete lifting, unloading, moving and other handling actions, they need to perform repetitive actions continuously. After working for a long time, the arms, legs, waist and back and various joints are prone to fatigue. If this continues for a long time, these parts are prone to overwork and illness. Mechanical bionic exoskeleton is a wearable exoskeleton that shares part of the external force through the exoskeleton, and transmits the force directly to the ground through a continuous exoskeleton, thereby achieving the purpose of reducing the stress on the human skeleton.

[0003] Some exoskeletons have elastic structures at the joints to imitate ligaments. For example, in the patent application with application number CN201620376742.9 and titled "A non-powered mechanical exoskeleton device based on bionic principles", the ankle part adopts a bionic ostrich foot structure, which includes a spring bundle, a connecting rod, a spring and a rubber sole. The upper and lower ends of the connecting rod are respectively connected to the two ends of the spring bundle, and the bottom of the connecting rod is installed with a rubber sole, on which a spring is arranged. However, its structure is complex, and it is troublesome to manufacture and assemble, so its structure needs to be further improved. Utility Model Content

[0004] The purpose of the utility model is to make up for the above-mentioned deficiencies and disclose to the public a joint elastic reset structure of a mechanical bionic exoskeleton which has a simple and reasonable structure and is easy to manufacture and assemble.

[0005] The technical solution of the utility model is achieved in this way:

[0006] A joint elastic reset structure of a mechanical bionic exoskeleton comprises an elastic member arranged between two joint components, wherein both ends of the elastic member are respectively provided with an enlarged portion with a diameter larger than the diameter of the elastic member body, and the joint components are respectively provided with a clamping portion with a diameter smaller than the diameter of the corresponding enlarged portion.

[0007] The measures to further optimize this technical solution are:

[0008] As an improvement, the two joint parts are a bionic waist and a bionic thigh, the elastic member is connected between the bionic waist and the bionic thigh, a clamping part is provided on the bionic waist, and a clamping part is also provided on the inner side of the bionic thigh. Here, the elastic member is connected between the bionic waist and the bionic thigh, thereby forming an elastic reset structure of the hip joint part.

[0009] As an improvement, a limiting groove is vertically arranged on the outer side of the bionic thigh, and the elastic member is embedded in the limiting groove and extends to the inner clamping part. The limiting groove is arranged, and the elastic member is installed along the limiting groove, which makes the installation more convenient and reliable.

[0010] As an improvement, a first limiting portion is provided on the outer side of the middle portion of the limiting groove.

[0011] As an improvement, a second limiting portion is arranged on the outer side of the upper portion of the limiting groove, and the second limiting portion and the first limiting portion are arranged on two sides of the limiting groove respectively correspondingly.

[0012] The provision of the first limiting portion and the second limiting portion can prevent the elastic member from escaping from the limiting groove, thereby ensuring the reliability of the installation.

[0013] As an improvement, two elastic members are arranged between the bionic waist and the bionic thigh.

[0014] As an improvement, the two clamping parts on the inner side of the bionic thigh are arranged in parallel in a transverse direction. With such arrangement, the structure is more compact.

[0015] As an improvement, a pull ring is connected to the enlarged portion, and the provision of the pull ring facilitates the installation of the elastic member.

[0016] As an improvement, the clamping portion is a cylindrical structure provided with a notch.

[0017] The advantages of the utility model compared with the prior art are:

[0018] The utility model discloses a joint elastic reset structure of a mechanical bionic exoskeleton, which has a simple and reasonable structure. An elastic member is arranged between two joint components, expansion parts are respectively arranged at both ends of the elastic member, and clamping parts are respectively arranged on the joint components. After connection, the elastic member will not fall out of the clamping part due to the arrangement of the expansion part, and processing and installation are very convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional structural diagram of an embodiment of the utility model;

[0020] Figure 2 yes Figure 1 Enlarged view of part A in the middle;

[0021] Figure 3 yes Figure 1 Enlarged view of middle part B;

[0022] Figure 4 It is a three-dimensional structural diagram of the elastic member of the embodiment of the utility model;

[0023] Figure 5 yes Figure 1 The three-dimensional structure diagram after removing the elastic member;

[0024] Figure 6 yes Figure 5 Enlarged view of middle C;

[0025] Figure 7 yes Figure 5 Enlarged view of part D in the middle.

[0026] The names of the reference numerals in the accompanying drawings of the present utility model are:

[0027] The elastic member 1 , the enlarged portion 11 , the clamping portion 2 , the bionic waist 3 , the bionic thigh 4 , the limiting groove 4 a , the first limiting portion 41 , the second limiting portion 42 , and the pull ring 5 . DETAILED DESCRIPTION

[0028] The utility model is further described in detail below with reference to the accompanying drawings:

[0029] The following description is used to disclose the utility model so that those skilled in the art can implement the utility model. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the utility model defined in the following description can be used for other implementation schemes, variations, improvements, equivalent schemes, and other technical solutions that do not deviate from the spirit and scope of the utility model.

[0030] Those skilled in the art should understand that, in the disclosure of the present invention, the directions or positions indicated by the terms "longitudinal", "lateral", "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positional relationships shown in the accompanying drawings, which are only simplified descriptions for the convenience of describing the present invention, and do not indicate or imply that the device or component referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the above terms should not be understood as limitations on the present invention.

[0031] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "one" should not be understood as a limitation on the quantity.

[0032] like Figures 1 to 7As shown, a joint elastic reset structure of a mechanical bionic exoskeleton includes an elastic member 1 arranged between two joint components, and both ends of the elastic member 1 are respectively provided with an expansion portion 11 with a diameter larger than the diameter of the elastic member main body, and the joint components are respectively provided with a clamping portion 2 with a diameter smaller than the diameter of the corresponding expansion portion 11.

[0033] In this embodiment, taking the hip joint as an example, the two joint components are the bionic waist 3 and the bionic thigh 4, the elastic member 1 is connected between the bionic waist 3 and the bionic thigh 4, the bionic waist 3 is provided with a clamping part 2, and the inner side of the bionic thigh 4 is also provided with a clamping part 2.

[0034] A limiting groove 4 a is vertically arranged on the outer side of the bionic thigh 4 , and the elastic member 1 is embedded in the limiting groove 4 a and extends to the inner clamping portion 2 .

[0035] A first limiting portion 41 is disposed outside the middle portion of the limiting groove 4a.

[0036] A second limiting portion 42 is disposed on the outer side of the upper portion of the limiting groove 4a. The second limiting portion 42 and the first limiting portion 41 are disposed on two sides of the limiting groove 4a respectively and correspondingly.

[0037] That is to say, the first limiting portion 41 is arranged on one side of the limiting groove 4a, and the second limiting portion 42 is arranged on the other side of the limiting groove 4a. The first limiting portion 41 and the second limiting portion 42 are respectively disposed on both sides of the limiting groove 4a, and are staggered up and down in the vertical direction. This can effectively prevent the elastic member 1 from escaping from the limiting groove 4a, thereby ensuring the reliability of the connection of the elastic member 1.

[0038] In this embodiment, two elastic members 1 are arranged between the bionic waist 3 and the bionic thigh 4 , so that elastic restoring structures can be formed on both sides of the bionic thigh 4 .

[0039] Two elastic members 1 are arranged on both sides of the bionic thigh 4, the upper end of the elastic member 1 is connected to the clamping part 2 of the bionic waist 3, the main body of the elastic member 1 is embedded in the limiting groove 4a vertically arranged on the bionic thigh 4, the lower end of the elastic member 1 extends out from the lower end of the limiting groove 4a, and passes through the notch opened on the side of the bionic thigh 4 to go around to the inner side of the bionic thigh 4, and then is connected to the clamping part 2 of the bionic thigh 4.

[0040] Since the width of the bionic thigh 4 is limited, the two clamping parts 2 on the inner side of the bionic thigh 4 are arranged in parallel and transversely. The two clamping parts 2 are staggered in the vertical direction, and the layout is reasonable, making the structure more compact and facilitating the connection of the elastic member 1.

[0041] The enlarged portion 11 is connected with a pull ring 5 .

[0042] The clamping portion 2 is a cylindrical structure with a notch. The cylindrical structure is provided with a tapered portion on one side of the enlarged portion 11 close to the elastic member 1. After the elastic member 1 is installed, a part of the enlarged portion 11 will enter the tapered portion to form a limit.

[0043] When installing the elastic member 1, the lower end of the elastic member 1 is connected to the clamping part 2 on the inner side of the bionic thigh 4, and the elastic member 1 is wound around the outer side of the bionic thigh 4 and embedded in the corresponding limiting groove 4a. Then, the elastic member 1 needs to be stretched to put it in a stretched state, and the upper end of the elastic member 1 is lifted up so that the enlarged part 11 at the upper end of the elastic member 1 is higher than the limiting groove 4a of the bionic waist 3, and the elastic member 1 is clamped into the clamping part 2 to complete the connection. During the installation process, it is necessary to overcome the elastic force of the elastic member 1, and a pull ring 5 is provided to facilitate force application and installation. The elastic member 1 is wound from the limiting groove 4a to the inner side of the bionic thigh 4, which can increase the stretching amount of the elastic member 1 while preventing the elastic member 1 from shifting, thereby increasing the stretching amount of the elastic member 1 when the joint rotates relative to each other, and improving the elastic restoring force.

[0044] The joint elastic reset structure of the utility model is provided with an elastic member 1 on two joint parts, and a clamping part 2 is provided on the joint part. After the elastic member 1 is stretched and inserted into the clamping part 2, the elastic member 1 can be reliably connected to the joint part due to the setting of the enlarged part 11. The structure is simple and easy to manufacture and install. The joint elastic reset structure of the utility model can be applied to joints such as hip joints, ankle joints, and elbow joints. When applied to the ankle joint, the elastic member 1 is connected between the bionic calf and the bionic sole; when applied to the elbow joint, the elastic member 1 is connected between the bionic upper arm and the bionic lower arm. When applied to different joints, the number of elastic members 1 and the size of the elastic force can be adjusted according to actual needs.

[0045] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention. The purpose of the present invention has been fully and effectively achieved. The functions and structural principles of the present invention have been demonstrated and explained in the embodiments. Without departing from the principles, the embodiments of the present invention may be deformed or modified in any way.

Claims

1. A joint elastic resetting structure of a mechanical bionic exoskeleton, comprising an elastic member (1) arranged between two joint components, characterized in that: The two ends of the elastic member (1) are respectively provided with an enlarged portion (11) having a diameter greater than the diameter of the elastic member body, and the joint component is respectively provided with a clamping portion (2) having a diameter smaller than the diameter of the corresponding enlarged portion (11).

2. The joint elastic resetting structure of a mechanical bionic exoskeleton according to claim 1 is characterized by: The two joint components are a bionic waist (3) and a bionic thigh (4); the elastic member (1) is connected between the bionic waist (3) and the bionic thigh (4); a clamping portion (2) is provided on the bionic waist (3); and a clamping portion (2) is also provided on the inner side of the bionic thigh (4).

3. The joint elastic reset structure of a mechanical bionic exoskeleton according to claim 2 is characterized by: A limiting groove (4a) is vertically arranged on the outer side of the bionic thigh (4), and the elastic member (1) is embedded in the limiting groove (4a) and extends to the inner clamping portion (2).

4. The joint elastic resetting structure of a mechanical bionic exoskeleton according to claim 3 is characterized by: A first limiting portion (41) is arranged outside the middle portion of the limiting groove (4a).

5. The joint elastic resetting structure of a mechanical bionic exoskeleton according to claim 4 is characterized by: A second limiting portion (42) is arranged on the outer side of the upper portion of the limiting groove (4a), and the second limiting portion (42) and the first limiting portion (41) are respectively arranged on the two sides of the limiting groove (4a) correspondingly.

6. The joint elastic resetting structure of a mechanical bionic exoskeleton according to claim 5 is characterized by: Two elastic members (1) are arranged between the bionic waist (3) and the bionic thigh (4).

7. The joint elastic resetting structure of a mechanical bionic exoskeleton according to claim 6 is characterized by: The two clamping parts (2) on the inner side of the bionic thigh (4) are arranged in parallel and in a transverse direction.

8. The joint elastic resetting structure of a mechanical bionic exoskeleton according to any one of claims 1 to 7, characterized in that: The enlarged portion (11) is connected with a pull ring (5).

9. The joint elastic resetting structure of a mechanical bionic exoskeleton according to claim 8 is characterized by: The clamping portion (2) is a cylindrical structure provided with a notch.

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