Fatigue test tool for L-shaped hip connecting piece on lower limb exoskeleton

Abstract

The utility model provides a fatigue test tool for an L-shaped hip connecting piece on a lower limb exoskeleton. The L-shaped hip connecting piece comprises a first end connected with an exoskeleton leg and a second end connected with a backpack. The fatigue test tool comprises a support frame, a clamp and a cyclic loading system, the clamp is fixed to the supporting frame and used for clamping the second end of the L-shaped hip connecting piece. The cyclic loading system comprises a dowel bar and a driving device; the dowel bar is detachably fixed to the first end of the L-shaped hip connecting piece, and the dowel bar is perpendicular to the L-shaped hip connecting piece. The driving device is connected with one end, far away from the L-shaped hip connecting piece, of the dowel bar, so that bending moment is applied to the first end of the L-shaped hip connecting piece through the dowel bar, the actual stress condition of the L-shaped hip connecting piece assembled on the lower limb exoskeleton is simulated, and the fatigue test accuracy of the L-shaped hip connecting piece is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of lower limb exoskeletons, and particularly relates to a fatigue test tooling for an L-shaped hip joint connecting piece on a lower limb exoskeleton. Background Art

[0002] A lower limb exoskeleton is a device worn on the lower limbs of the human body to assist the movement of the lower limbs. Currently, all lower limb exoskeletons are equipped with a backpack to install components such as a battery and a controller in the backpack to control the two exoskeleton legs of the lower limb exoskeleton; since the backpack is usually placed at the back or front of the waist, the backpack needs to be connected to the hips of the two exoskeleton legs through an L-shaped hip joint connecting piece. When the user wears the lower limb exoskeleton and walks, it is found that the L-shaped hip joint connecting piece often undergoes fatigue fracture. After analysis, the main reason for the fatigue fracture of the L-shaped hip joint connecting piece is that the gravity exerted by the human body on the soles of the exoskeleton legs will be converted into a bending moment on one end of the L-shaped hip joint connecting piece close to the exoskeleton leg, and the L-shaped hip joint connecting piece undergoes fatigue fracture due to frequently bearing the bending moment generated by the human body gravity. However, the existing bending fatigue test tooling cannot directly apply a bending moment to one end of the test piece and cannot perform the fatigue test of the L-shaped hip joint connecting piece. Summary of the Utility Model

[0003] In view of the above-mentioned disadvantages of the prior art, the purpose of the present utility model is to provide a fatigue test tooling for an L-shaped hip joint connecting piece on a lower limb exoskeleton, which can directly apply a bending moment to one end of the L-shaped hip joint connecting piece to simulate the fatigue loading condition of the L-shaped hip joint connecting piece in actual application and improve the effectiveness of the fatigue test of the L-shaped hip joint connecting piece.

[0004] To achieve the above purpose and other related purposes, the present utility model provides a fatigue test tooling for an L-shaped hip joint connecting piece on a lower limb exoskeleton. The L-shaped hip joint connecting piece includes a first end connected to the exoskeleton leg and a second end connected to the backpack; the fatigue test tooling includes a support frame, a fixture, and a cyclic loading system; the fixture is fixed on the support frame and is used for clamping the second end of the L-shaped hip joint connecting piece; the cyclic loading system includes a force transmission rod and a driving device; the force transmission rod is detachably fixed on the first end of the L-shaped hip joint connecting piece, and the force transmission rod is perpendicular to the L-shaped hip joint connecting piece; the driving device is connected to the end of the force transmission rod far from the L-shaped hip joint connecting piece to apply a bending moment at the first end of the L-shaped hip joint connecting piece through the force transmission rod, simulate the fatigue stress condition of the L-shaped hip joint connecting piece in actual application, and improve the accuracy of the fatigue test of the L-shaped hip joint connecting piece.

[0005] Preferably, the driving device includes a first steel wire rope, a second steel wire rope, a counterweight, and a counterweight loading and unloading mechanism; a first fixed pulley set and a second fixed pulley set are provided on the support frame, and the positions of the first fixed pulley set and the second fixed pulley set are both higher than the position of the counterweight; one end of the first steel wire rope is connected to the force transmission rod, and the other end of the first steel wire rope bypasses the first fixed pulley set and is connected to the counterweight; one end of the second steel wire rope is connected to the counterweight, and the other end of the second steel wire rope bypasses the second fixed pulley set and is connected to the counterweight loading and unloading mechanism below; the utility model uses the counterweight to load the load, effectively ensuring the stability of the load loading; the setting of the counterweight loading and unloading mechanism facilitates the cyclic loading and unloading of the load and effectively reduces the control difficulty of the load loading and unloading.

[0006] Preferably, the driving device includes a third steel wire rope; a third fixed pulley set is provided on the support frame, and the position of the third fixed pulley set is lower than the position of the counterweight; one end of the third steel wire rope is connected to the counterweight, and the other end of the third steel wire rope bypasses the third fixed pulley set and is connected to the counterweight loading and unloading mechanism; a steel wire rope tension tester is provided on the third steel wire rope; when the counterweight is loaded in this application, the counterweight loading and unloading mechanism applies a downward pulling force to the counterweight through the third steel wire rope to add extra weight to the counterweight, which can not only conveniently realize the fatigue test under different fixed loads but also meet the fatigue test requirements under variable loads.

[0007] Preferably, the counterweight loading and unloading mechanism is a lifting mechanism or an electric drum.

[0008] Preferably, the driving device is a linear driving mechanism, and the linear driving mechanism is perpendicular to the force transmission rod.

[0009] Preferably, the fatigue test tooling includes a counter, and the counter is used to count the number of cyclic loadings of the cyclic loading system.

[0010] Preferably, a clamping groove is provided on the fixture, and the clamping groove is inserted and matched with the L-shaped hip joint connector.

[0011] Preferably, the fixture includes two cooperating clamping blocks, and a clamping opening is provided on the opposite side of the two clamping blocks; the two clamping openings cooperate to form a clamping groove; by adjusting the distance between the first clamping block and the second clamping block, the clamping and limiting of L-shaped hip joint connectors with different thicknesses can be satisfied.

[0012] As described above, a fatigue test tooling for an L-shaped hip joint connector on a lower limb exoskeleton of the present utility model has the following

[0013] Beneficial effects:

[0014] The utility model uses a fixture to clamp and fix the second end of the L-shaped hip joint connector instead of a backpack, and uses a force transmission rod to connect the first end of the exoskeleton leg and the L-shaped hip joint connector. Then, a force is cyclically applied to the end of the force transmission rod far from the L-shaped hip joint connector, so as to simulate the stress condition of the L-shaped hip joint connector in actual application through the force transmission rod at the first end of the L-shaped hip joint connector, making the fatigue test result of the L-shaped hip joint connector more consistent with the actual use result of the L-shaped hip joint connector. In addition, the device of the utility model uses a counterweight for load loading, and uses a counterweight loading and unloading mechanism to lift and release the counterweight, effectively reducing the control difficulty of load loading and unloading and improving the stability of load loading and unloading. Finally, after the counterweight loading and unloading mechanism releases the counterweight, a downward pulling force can be applied to the released counterweight through the third steel wire rope to increase the weight of the counterweight, so as to conveniently meet the fatigue test requirements under different loads. Description of the Drawings

[0015] Figure 1 It is a three-dimensional view of the L-shaped hip joint connector related to the utility model.

[0016] Figure 2 It is a three-dimensional view of the fatigue test tooling for the L-shaped hip joint connector in an embodiment of the utility model.

[0017] Figure 3 It is Figure 2 the front view.

[0018] Figure 4 It is the front view of the fatigue test tooling for the L-shaped hip joint connector in another embodiment of the utility model.

[0019] Figure 5 It is the front view of the fatigue test tooling for the L-shaped hip joint connector in another embodiment of the utility model.

[0020] Figure 6 It is a structural schematic diagram of the fixture in the utility model.

[0021] Description of the Reference Numerals

[0022] L-shaped hip joint connector 01, support frame 1, fixture 2, clamping groove 2a, clamping block 21, force transmission rod 3, first steel wire rope 41, second steel wire rope 42, counterweight 43, counterweight loading and unloading mechanism 44, third steel wire rope 45, linear drive mechanism 46, first fixed pulley group 51, second fixed pulley group 52, third fixed pulley group 53. Detailed Embodiments

[0023] The following specific embodiments illustrate the implementation manners of the utility model. Those skilled in the art can easily understand other advantages and effects of the utility model from the content disclosed in this specification.

[0024] Please refer to Figures 1 to 6 . It should be noted that the structures, proportions, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the conditions for the implementation of the present utility model. Therefore, they do not have substantial technical significance. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the efficacy that the present utility model can produce and the purpose that can be achieved, should still fall within the scope that can be covered by the technical content disclosed in the present utility model. At the same time, the terms such as "upper", "lower", "left", "right", "middle", and "one" cited in this specification are only for the convenience of clear narration, and are not used to limit the scope for the implementation of the present utility model. The change or adjustment of their relative relationships, without substantial change in the technical content, should also be regarded as the scope for the implementation of the present utility model.

[0025] The present utility model provides a fatigue test tooling for the L-shaped hip joint connector on the lower limb exoskeleton, which is used for fatigue testing of the L-shaped hip joint connector 01 on the lower limb exoskeleton; the structure of the L-shaped hip joint connector 01 is as Figure 1 shown, which includes a first end connected to the rear side of the top end of the exoskeleton leg and a second end connected to the backpack. Since the vertical bisector of the exoskeleton leg is located on the front side of the L-shaped hip joint connector 01, during the use of the lower limb exoskeleton, the gravity exerted by the human body on the sole of the exoskeleton leg will be converted into a bending moment on the first end of the L-shaped hip joint connector 01, thereby causing fatigue fracture of the L-shaped hip joint connector 01.

[0026] As Figure 2 , Figure 3 and Figure 6 shown, a fatigue test tooling for the L-shaped hip joint connector on the lower limb exoskeleton involved in the present utility model includes a support frame 1, a fixture 2, and a cyclic loading system; for the convenience of narration, in the following embodiments, the length direction of the support frame 1 is defined as the left-right direction, the width direction of the support frame 1 is defined as the front-back direction, and the height direction of the support frame 1 is defined as the up-down direction; based on this, Figure 3 and Figure 4 in the views shown, the left and right sides of the paper surface are the left direction and the right direction respectively, the upper and lower sides of the paper surface are the up direction and the down direction respectively, and the front and back sides of the paper surface are the front direction and the back direction respectively.

[0027] As Figure 2 and Figure 3 ​As shown, in the fatigue test tooling, the support frame 1 includes a bottom frame, a top frame, and columns connecting the bottom frame and the top frame; the fixture 2 is fixed on the bottom frame of the support frame 1, and is provided with a clamping groove 2a for clamping the second end of the L-shaped hip connector 01; the cyclic loading system includes a force transmission rod 3 and a driving device; wherein, the force transmission rod 3 is vertically arranged, and the bottom end of the force transmission rod 3 is detachably fixed to the first end of the L-shaped hip connector 01; the driving device is used to apply power to the top end of the force transmission rod 3, so as to apply a bending moment to the first end of the L-shaped hip connector 01 through the force transmission rod 3, so as to simulate the stress condition of the L-shaped hip connector in actual application; the driving device is controlled by a controller to realize the application and cancellation of power; in this embodiment, since a connection hole for connecting with the exoskeleton leg is reserved at the first end of the L-shaped hip connector 01, therefore, the bottom end of the force transmission rod 3 can be directly inserted into the connection hole of the L-shaped hip connector 01 to realize the plug-in fixation of the force transmission rod 3 and the L-shaped hip connector 01.

[0028] Under normal circumstances, in order to realize the simultaneous testing of multiple L-shaped hip connectors 01 made of different materials, multiple fixtures 2 and multiple cyclic loading systems can be configured in the support frame 1, as long as the number of fixtures 2 and cyclic loading systems is kept consistent.

[0029] In a preferred embodiment, the structure of the driving device is as Figure 2 and Figure 3As shown in the figure, the driving device includes a first steel wire rope 41, a second steel wire rope 42, a counterweight 43, and a counterweight loading and unloading mechanism 44; at the top of the support frame 1, a first fixed pulley set 51 and a second fixed pulley set 52 are provided; among them, one end of the first steel wire rope 41 is connected to the top end of the force transmission rod 3, and the other end of the first steel wire rope 41 bypasses the first fixed pulley set 51 and is connected to the counterweight 43. Through the first steel wire rope 41, the gravity of the counterweight 43 can be converted into a horizontal pulling force on the top end of the force transmission rod 3; one end of the second steel wire rope 42 is connected to the counterweight 43, and the other end of the second steel wire rope 42 bypasses the second fixed pulley set 52 and is connected to the counterweight loading and unloading mechanism 44 below. The counterweight 43 is lifted or released through the counterweight loading and unloading mechanism 44; when the counterweight 43 is lifted to a state where the first steel wire rope 41 is slack, the horizontal pulling force on the top end of the force transmission rod 3 disappears; when the counterweight 43 is released, the counterweight 43 will move downward under its own weight, thereby tightening the first steel wire rope 41. At this time, the first steel wire rope 41 can convert the gravity of the counterweight 43 into a horizontal pulling force applied to the top end of the force transmission rod 3; by cyclically lifting and releasing the counterweight 43 through the counterweight loading and unloading mechanism 44, the top end of the force transmission rod 3 can bear a cyclic tensile load; since the top end of the force transmission rod 3 bearing a cyclic tensile load is equivalent to the first end of the L-shaped hip joint connector 01 bearing a cyclic bending moment load, the stress condition of the tested L-shaped hip joint connector 01 is close to the stress condition of the L-shaped hip joint connector 01 during actual use, ensuring the effectiveness of the test results of the L-shaped hip joint connector 01.

[0030] Since the force on the L-shaped hip joint connector 01 is actually provided by the counterweight 43, it not only ensures the stability of the force on the L-shaped hip joint connector 01, but also reduces the control difficulty of the driving device.

[0031] It can be understood that the counterweight loading and unloading mechanism 44 can be an electric winch, or a lifting device such as a hydraulic rod, a pneumatic push rod, an electric push rod, etc. that can realize the lifting function, and no limitation is made in this regard; in this embodiment, the counterweight loading and unloading mechanism 44 is an electric push rod.

[0032] Furthermore, as Figure 4As shown, the drive device further includes a third steel wire rope 45; a third fixed pulley set 53 is provided on the support frame 1 and located below the counterweight 43; one end of the third steel wire rope 45 is connected to the counterweight 43, the other end of the third steel wire rope 45 bypasses the third fixed pulley set 53 and is connected to the counterweight loading and unloading mechanism 44, and a wire rope tension tester is provided on the third steel wire rope 45; the counterweight loading and unloading mechanism 44 lifts or releases the counterweight 43 through the second steel wire rope 42; when the counterweight 43 is lifted to a state where the first steel wire rope 41 is slack, the horizontal tension received by the top of the force transmission rod 3 disappears; when the second steel wire rope 42 is slack and the counterweight 43 is released, the counterweight 43 will move downward under its own weight to tighten the first steel wire rope 41. At this time, if the counterweight loading and unloading mechanism 44 continues to slack the second steel wire rope 42, the third steel wire rope 45 will be tightened to apply a downward pull on the counterweight 43, thereby realizing the weight increase of the counterweight 43, and thus the expansion of the applied load can be conveniently realized.

[0033] In another embodiment, the structure of the drive device is as Figure 5 shown, the drive device is a linear drive mechanism 46 arranged horizontally, which can directly apply or cancel the horizontal power to the top of the force transmission rod 03, so that the first end of the L-shaped hip joint 01 bears a cyclic bending moment load.

[0034] In order to accurately obtain the fatigue life of the L-shaped hip joint 01, a counter needs to be additionally provided; the calculator is connected to the cyclic loading system and is used to count the number of cyclic loadings of the cyclic loading system, so as to obtain the fatigue life of the L-shaped hip joint 01.

[0035] Furthermore, as Figure 6 shown, the fixture 2 includes two mutually cooperating clamping blocks 21, and a clamping opening is provided on the opposite side of the two clamping blocks. The two clamping openings cooperate to form a clamping groove 2a; the distance between the two clamping blocks 21 is adjustable for clamping L-shaped hip joints 01 with different thicknesses, so as to facilitate confirming the optimal size of the L-shaped hip joint 01 according to the fatigue test results of L-shaped hip joints 01 with different thicknesses.

[0036] In summary, the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0037] The above embodiments are only illustrative of the principles and effects of the present utility model and are not used to limit the present utility model. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present utility model. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present utility model should still be covered by the claims of the present utility model.

Claims

1. A fatigue test tool for an L-shaped hip connector on a lower limb exoskeleton, the L-shaped hip connector (01) comprising a first end connected to the exoskeleton leg and a second end connected to a backpack; characterized in that: The fatigue testing tool comprises a support frame (1), a clamp (2) and a cyclic loading system; the clamp (2) is fixed on the support frame (1) and is used to clamp the second end of the L-shaped hip connector (01); the cyclic loading system comprises a force transmission rod (3) and a driving device; the force transmission rod (3) is detachably fixed on the first end of the L-shaped hip connector (01), and the force transmission rod (3) is perpendicular to the L-shaped hip connector (01); the driving device is connected to an end of the force transmission rod (3) away from the L-shaped hip connector (01) so as to apply a bending moment at the first end of the L-shaped hip connector (01) through the force transmission rod (3).

2. The fatigue testing tool for an L-shaped hip connector on a lower limb exoskeleton according to claim 1, characterized in that: The driving device comprises a first steel wire rope (41), a second steel wire rope (42), a counterweight (43) and a counterweight loading and unloading mechanism (44); a first fixed pulley block (51) and a second fixed pulley block (52) are provided on the support frame (1), and the positions of the first fixed pulley block (51) and the second fixed pulley block (52) are both higher than the position of the counterweight (43); one end of the first steel wire rope (41) is connected to the force transmission rod (3), and the other end of the first steel wire rope (41) bypasses the first fixed pulley block (51) and is connected to the counterweight (43); one end of the second steel wire rope (42) is connected to the counterweight (43), and the other end of the second steel wire rope (42) bypasses the second fixed pulley block (52) and is connected to the counterweight loading and unloading mechanism (44) below.

3. The fatigue testing tool for the L-shaped hip connector on a lower limb exoskeleton according to claim 2, characterized in that: The driving device comprises a third steel wire rope (45); a third fixed pulley block (53) is provided on the support frame (1), and the position of the third fixed pulley block (53) is lower than the position of the counterweight (43); one end of the third steel wire rope (45) is connected to the counterweight (43), and the other end of the third steel wire rope (45) passes around the third fixed pulley block (53) and is connected to the counterweight loading and unloading mechanism (44); a steel wire rope tension tester is provided on the third steel wire rope (45).

4. A fatigue testing tool for an L-shaped hip connector on a lower limb exoskeleton according to claim 2 or 3, characterized in that: The counterweight loading and unloading mechanism (44) is a lifting mechanism or an electric reel.

5. The fatigue testing tool for an L-shaped hip connector on a lower limb exoskeleton according to claim 1, characterized in that: The driving device is a linear driving mechanism (46), and the linear driving mechanism (46) is arranged perpendicularly to the force transmission rod (3).

6. A fatigue testing tool for an L-shaped hip connector on a lower limb exoskeleton according to any one of claims 1 to 3, characterized in that: The fatigue testing tool comprises a counter, and the counter is used to count the number of cyclic loadings of the cyclic loading system.

7. A fatigue testing tool for an L-shaped hip connector on a lower limb exoskeleton according to any one of claims 1 to 3, characterized in that: The clamp (2) is provided with a clamping groove (2a), and the clamping groove (2a) is plug-fitted with the L-shaped hip connector (01).

8. The fatigue testing tool for the L-shaped hip connector on a lower limb exoskeleton according to claim 7, characterized in that: The clamp (2) comprises two mutually matching clamping blocks (21), and clamping openings are provided on opposite sides of the two clamping blocks; the two clamping openings cooperate to form a clamping groove (2a).

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