CN209919882U - Exoskeleton system - Google Patents
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- CN209919882U CN209919882U CN201920691125.1U CN201920691125U CN209919882U CN 209919882 U CN209919882 U CN 209919882U CN 201920691125 U CN201920691125 U CN 201920691125U CN 209919882 U CN209919882 U CN 209919882U
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 87
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- 210000002414 leg Anatomy 0.000 description 58
- 230000009471 action Effects 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000005452 bending Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 210000000689 upper leg Anatomy 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 229910001069 Ti alloy Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000011542 limb amputation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 238000012544 monitoring process Methods 0.000 description 1
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Abstract
The embodiment of the utility model relates to an exoskeleton system, which comprises a connecting piece, a first driving module, a first speed reducer, a first transmission shaft, a first transmission rod, a second driving module, a second speed reducer, a second transmission shaft, a second transmission rod, a first control module and a second control module; the first driving module and the second driving module are respectively fixed on two sides of the connecting piece; the first speed reducer is connected with the first driving module, the first speed reducer is connected with the first transmission shaft, the first driving module drives the first speed reducer, and the first speed reducer generates driving force to drive the first transmission shaft to rotate; the second speed reducer is connected with a second driving module, the second speed reducer is connected with a second transmission shaft, the second driving module drives the second speed reducer, and the second speed reducer generates driving force to drive the second transmission shaft to rotate; the first control module and the second control module are respectively and electrically connected with the first driving module and the second driving module.
Description
Technical Field
The utility model relates to a mechanical device especially relates to an ectoskeleton system.
Background
The exoskeleton, also known as an exoskeleton armor or an exoskeleton robot armor, has a structure similar to that of an insect exoskeleton, can be worn on a human body to provide protection and additional power or capacity for people, enhances the function of the human body, and is mainly applied to the fields of medical rehabilitation, military, personal capacity improvement and the like. A plurality of wearable exoskeleton devices are disclosed in the prior art, and the functions of the wearable exoskeleton devices include load walking, weight carrying, medical auxiliary rehabilitation, limb amputation and limb replacement of human bodies, individual combat uniform and the like. The intention of human body exercise is detected and judged by various sensors, so that the power is assisted to the human body and the human body can keep consistent motion.
However, the existing exoskeleton is complex in structure, heavy in weight and poor in flexibility, and cannot meet the requirements of users.
SUMMERY OF THE UTILITY MODEL
The utility model aims at prior art's defect, provide an ectoskeleton system, adopt electric control, simple structure, light in weight, use in a flexible way, in addition, the wearing person can keep the highly uniform motion with the human body when dressing this system, and can the helping hand wearing person accomplish straight waist action.
In view of this, an embodiment of the present invention provides an exoskeleton system, including a connecting member, a first driving module, a first speed reducer, a first transmission shaft, a first transmission rod, a second driving module, a second speed reducer, a second transmission shaft, a second transmission rod, a first control module and a second control module;
the fixed end of the first driving module and the fixed end of the second driving module are respectively fixed on two sides of the connecting piece;
the power input end of the first speed reducer is connected with the power output end of the first driving module, the power output end of the first speed reducer is connected with one end of the first transmission shaft, the first driving module drives the first speed reducer, and the first speed reducer generates driving force to drive the first transmission shaft to rotate;
the other end of the first transmission shaft is connected with one end of the first transmission rod; the other end of the first transmission rod is provided with a first leg stop;
the power input end of the second speed reducer is connected with the power output end of the second driving module, the power output end of the second speed reducer is connected with one end of the second transmission shaft, the second driving module drives the second speed reducer, and the second speed reducer generates driving force to drive the second transmission shaft to rotate;
the other end of the second transmission shaft is connected with one end of the second transmission rod; the other end of the second transmission rod is provided with a second leg stop;
the first control module and the second control module are respectively and electrically connected with the first driving module and the second driving module, so that a first control signal and a second control signal are respectively generated to respectively control the first driving module and the second driving module to drive the first speed reducer and the second speed reducer.
Preferably, the connecting piece comprises a first connecting plate, a second connecting plate and a connecting part; one side of the first connecting plate and one side of the second connecting plate are respectively fixed on two sides of the connecting part;
the fixed end of the first driving module is fixedly connected with the first connecting plate; the fixed end of the second driving module is fixedly connected with the second connecting plate.
Further preferably, the exoskeleton system further comprises a first box and a second box;
one end of the first box body is buckled on the first connecting plate, so that one ends of the first driving module, the first speed reducer and the first transmission shaft are accommodated in the first box body;
one end of the second box body is buckled on the second connecting plate, so that one ends of the second driving module, the second speed reducer and the second transmission shaft are accommodated in the second box body.
Further preferably, the exoskeleton system further comprises a first cover plate and a second cover plate; the first cover plate and the second cover plate are both provided with openings;
the first cover plate is buckled at the other end of the first box body, and the other end of the first transmission shaft is exposed out of the opening of the first cover plate;
the second cover plate is buckled at the other end of the second box body, and the other end of the second transmission shaft is exposed out of the opening of the second cover plate.
Further preferably, the first control module is fixed on the outer side of the first box body, and the second control module is fixed on the outer side of the second box body;
the exoskeleton system further comprises a third cover plate buckled on the outer sides of the first box body and the second box body, and the first control module and the second control module are contained in the third cover plate.
Further preferably, the exoskeleton system further comprises a housing and a power source;
the bottom of the shell is fixedly connected with the top of the connecting part;
the power supply is accommodated in the shell and supplies power to the first control module, the first driving module, the second control module and the second driving module.
Further preferably, the top of the shell is provided with a back fixing frame, two sides of the shell are respectively provided with a fixing part, and the back fixing frame and the fixing parts are used for fixing a binding belt, so that the exoskeleton system is fixed on the back of a wearer.
Preferably, the first control module and the second control module generate the first control signal and the second control signal under the control of the upper computer, so that the first driving module drives the first speed reducer and the second driving module drives the second speed reducer to move in the same direction or in different directions.
Preferably, when the first transmission rod is rotated by the driving force, the first transmission rod is driven to rotate, and the first transmission rod drives the first speed reducer to rotate.
Preferably, when the second transmission rod is rotated by the driving force, the second transmission rod is driven to rotate, and the second transmission shaft drives the second speed reducer to rotate.
The embodiment of the utility model provides a pair of ectoskeleton system adopts electric control, simple structure, light in weight, uses in a flexible way, and in addition, the person of wearing can keep highly uniform motion with the human body when dressing this system, and can the helping hand person of wearing accomplish straight waist action.
Drawings
Fig. 1 is a schematic structural diagram of an exoskeleton system according to an embodiment of the present invention;
fig. 2 is a second schematic structural diagram of an exoskeleton system according to an embodiment of the present invention;
fig. 3 is an exploded view of an exoskeleton system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a connecting member according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a housing according to an embodiment of the present invention;
fig. 6 is an exploded schematic view of a housing according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention is further described in detail by the accompanying drawings and examples.
The embodiment of the utility model provides an ectoskeleton system adopts electric control, simple structure, light in weight, application are nimble, and in addition, the wearing person can keep highly uniform motion with the human body when dressing this system, and can the helping hand wearing person accomplish straight waist action.
Fig. 1, fig. 2 and fig. 3 are two schematic structural diagrams and an explosion diagram of the exoskeleton system provided by the embodiment of the present invention, which are shown in fig. 1 to fig. 3, respectively, and the exoskeleton system provided by the embodiment of the present invention specifically includes a connecting member 1, a first driving module 21, a first speed reducer 31, a first transmission rod 41, a first transmission rod 51, a second driving module 22, a second speed reducer 32, a second transmission rod 42, a second transmission rod 52, a first control module 61 and a second control module 62, and the following describes the structure of the connecting member 1, the first driving module 21, the first speed reducer 31, the first transmission rod 41, the first transmission rod 51, the second driving module 22, the second speed reducer 32, the second transmission rod 42, the second transmission rod 52, the first control module 61 and the second control module 62 specifically.
The connecting member 1 is used for fixing a first driving module 21 and a second driving module 22, fig. 4 is a schematic structural diagram of a connecting member according to an embodiment of the present invention, as shown in fig. 4, the connecting member 1 specifically includes a first connecting plate 11, a second connecting plate 12 and a connecting portion 13, the connecting portion 13 may be a rectangular frame structure, one side of the first connecting plate 11 and one side of the second connecting plate 12 are respectively fixed on the left and right sides of the connecting portion 13, and may be specifically fixed by bolts, a plurality of hollow holes are preferably formed on the first connecting plate 11 and the second connecting plate 12, the hollow holes on the first connecting plate 11 and the second connecting plate 12 and the rectangular frame structure of the connecting portion 13 may all reduce the overall weight of the system, further, the first connecting plate 11 is used for installing the first driving module 21, the second connecting plate 12 is used for installing the second driving module 22, the two driving modules are respectively arranged on the two connecting plates, so that the stability of the system in the using process can be better ensured.
Referring to fig. 3 and 4, the first driving module 21 and the second driving module 22 are components capable of providing power, and preferably adopt motors, the first driving module 21 and the second driving module 22 both have a fixed end and a power output end, the fixed end of the first driving module 21 and the fixed end of the second driving module 22 are respectively fixed at two sides of the connecting member 1, specifically, the fixed end of the first driving module 21 is fixedly connected with the first connecting plate 11, and the fixed end of the second driving module 22 is fixedly connected with the second connecting plate 12.
The first speed reducer 31 is a speed reduction transmission device, and is used for reducing the rotating speed and increasing the torque, and the person skilled in the art can set the rotating speed, the gear ratio and other parameters of the first driving module 21 and the first speed reducer 31 according to the needs. Specifically, the first speed reducer 31 has a power input end and a power output end, the power input end of the first speed reducer 31 is connected with the power output end of the first driving module 21, the power output end of the first speed reducer 31 is connected with one end of the first transmission shaft 41, the first driving module 21 drives the first speed reducer 31, and the first speed reducer 31 generates a driving force to drive the first transmission shaft 41 to rotate.
The other end of the first transmission shaft 41 is connected with one end of the first transmission shaft 51, preferably, the first transmission shaft 51 and the first transmission shaft 41 can be fixed by a joggle joint and a positioning pin, so that the stability between the first transmission shaft 51 and the first transmission shaft 41 can be enhanced, the first transmission shaft 41 can rotate to drive the first transmission shaft 51 to rotate, and the first transmission shaft 51 can also rotate to drive the first transmission shaft 41 to rotate.
Similarly, the second speed reducer 32 is a speed reduction transmission device, and is used for reducing the rotation speed and increasing the torque, and those skilled in the art can set parameters such as the rotation speed, the gear ratio, etc. of the second driving module 22 and the second speed reducer 32 according to the needs, and it should be noted that the parameters of the second driving module 22 and the second speed reducer 32 may be the same as or different from the parameters of the first driving module and the first speed reducer 31, and those skilled in the art can set the parameters according to the needs of the user. Specifically, the second speed reducer 32 has a power input end and a power output end, the power input end of the second speed reducer 32 is connected to the power output end of the second driving module 22, the power output end of the second speed reducer 32 is connected to one end of the second transmission shaft 42, the second driving module 22 drives the second speed reducer 32, and the second speed reducer 32 generates a driving force to drive the second transmission shaft 42 to rotate.
The other end of the second transmission shaft 42 is connected to one end of the second transmission shaft 52, and preferably, the second transmission shaft 52 and the second transmission shaft 42 can be fixed by a tenon joint and a positioning pin, so that the stability between the second transmission shaft 52 and the second transmission shaft 42 can be enhanced, the second transmission shaft 42 can rotate to drive the second transmission shaft 52, and the second transmission shaft 52 can also rotate to drive the second transmission shaft 42.
The other end of the first transmission rod 51 is provided with a first leg stop 510, the first leg stop 510 swings back and forth along with the rotation of the first transmission rod 51, the other end of the second transmission rod is provided with a second leg stop 520, and the second leg stop 520 swings back and forth along with the rotation of the second transmission rod 52.
The first control module 61 and the second control module 62 are electrically connected to the first driving module 21 and the second driving module 22, respectively, that is, the first control module 61 controls the first driving module 21, and the second control module 62 controls the second driving module 22, specifically, the first control module 61 generates a first control signal to control the first driving module 21 to operate, so as to drive the first speed reducer 31 to drive the first transmission shaft 41 and the first transmission rod 51 to rotate; the second control module 62 generates a second control signal to control the second driving module 22 to operate, so as to drive the second reducer 32, and rotate the second transmission shaft 42 and the second transmission rod 52. It should be noted that the first control module 61 and the second control module 62 separately control the first driving module 21 and the second driving module 22, that is, the first driving module 21 and the second driving module 22 may work separately or simultaneously, and the rotation speeds and directions output by the first driving module 21 and the second driving module 22 during operation may be the same or different, and may be set by those skilled in the art according to needs.
In order to protect and place the first driving module 21, the first speed reducer 31, the second driving module 22 and the second speed reducer 32, the exoskeleton system further comprises a first box 71 and a second box 72, as shown in fig. 1 to 3, openings are respectively formed at the left end and the right end of the first box 71 and the second box 72, one end of the first box 71 is fastened on the first connecting plate 11 and is fixedly connected with the first connecting plate 11, so that one ends of the first driving module 21, the first speed reducer 31 and the first transmission shaft 41 are accommodated in the first box 71. Similarly, one end of the second box 72 is fastened to the second connection board 12 and is fixedly connected to the second connection board 12, so that one ends of the second driving module 22, the second reducer 32 and the second transmission shaft 42 are accommodated in the second box 72.
The exoskeleton system further comprises a first cover plate 73 and a second cover plate 74; the first cover plate 73 and the second cover plate 74 are both provided with openings, the first cover plate 73 is buckled at the other end of the first box body 71 and is fixedly connected with the other end of the first box body 71, and the other end of the first transmission shaft 41 is exposed out of the opening of the first cover plate 73; the second cover plate 74 is fastened to the other end of the second box 72 and is fixedly connected to the other end of the second box 72, and the other end of the second transmission shaft 42 is exposed from the opening of the second cover plate 74.
The exoskeleton system further comprises a third cover plate 75 for protecting and accommodating the first control module 61 and the second control module 62, wherein the first control module 61 is fixed on the outer side of the first box 71, the second control module 62 is fixed on the outer side of the second box 72, and the third cover plate 75 is buckled on the outer sides of the first box 71 and the second box 72 to accommodate the first control module 61 and the second control module 62 in the third cover plate 75.
As shown in fig. 5 and 6, the exoskeleton system further comprises a housing 8 and a power supply 9, wherein the power supply 9 is accommodated in the housing 8, the housing 8 is provided with a rear cover 82, the power supply 9 can be replaced by detaching the rear cover 82, and the power supply 9 is used for supplying power to the first control module 61, the first drive module 21, the second control module 62 and the second drive module 22. As shown again in fig. 3, the bottom of the housing 8 is fixedly connected to the top of the connecting portion 13, and is fixedly connected to the first case 71 and the second case 72, thereby ensuring the structural stability of the system.
The operation of the exoskeleton system is described in detail below with reference to fig. 1-3.
The embodiment of the utility model provides an ectoskeleton system can regard as power input end with drive module, also can keep off as power input end with the leg, describes as power input end and leg fender the condition as power input end to drive module respectively below.
In the case of the first driving module 21 and the second driving module 22 as power sources, the operation modes of the system can be divided into the following two types according to the difference of the fixed ends:
(1) case of housing remaining stationary
Since the first control module 61 and the second control module 62 are independent control modules, the first control module 61 and the second control module 62 may operate independently or simultaneously.
a. When the first control module 61 and the second control module 62 work simultaneously, the first control module 61 and the second control module 62 generate a first control signal and a second control signal under the control of the upper computer, so that the first driving module 21 drives the first speed reducer 31, the second driving module 22 drives the second speed reducer 32 to generate synchronous equidirectional motion or synchronous opposite-directional motion, and the first speed reducer 31 generates a driving force to drive the first transmission shaft 41 and the first transmission rod 51 to rotate, thereby driving the first leg shield 510 to swing; the second reducer 32 generates a driving force to rotate the second transmission shaft 42 and the second transmission rod 52, thereby swinging the second leg shield 520.
The rotation directions of the first driving module 21 and the second driving module 22 may be the same or different.
When the rotation directions of the first driving module 21 and the second driving module 22 are the same, the rotation directions of the first speed reducer 31 and the second speed reducer 32 are the same, the rotation directions of the first transmission shaft 41 and the second transmission shaft 42 are the same, and the rotation directions of the first transmission rod 51 and the second transmission rod 52 are the same, so that the first leg shield 510 and the second leg shield 520 are driven to swing forwards or backwards at the same time.
When the rotation directions of the first driving module 21 and the second driving module 22 are opposite, the rotation directions of the first speed reducer 31 and the second speed reducer 32 are opposite, the rotation directions of the first transmission shaft 41 and the second transmission shaft 42 are opposite, and the rotation directions of the first transmission rod 51 and the second transmission rod 52 are opposite, so that the first leg shield 510 and the second leg shield 520 are driven to swing forward and backward.
b. When the first control module 61 is operated and the second control module 62 is not operated, and only the first control signal is generated, the first driving module 21 drives the first speed reducer 31, the first speed reducer 31 generates a driving force to drive the first transmission shaft 41 and the first transmission rod 51 to rotate, so as to drive the first leg block 510 to swing forwards or backwards, at this time, the second driving module 22 and the second speed reducer 32 are not operated, and the second transmission shaft 42, the second transmission rod 52 and the second leg block 520 are not operated.
Similarly, when the second control module 62 is operated and the first control module 61 is not operated, only the second control signal is generated, the second driving module 22 drives the second speed reducer 32, the second speed reducer 32 generates a driving force to drive the second transmission shaft 42 and the second transmission rod 52 to rotate, so as to drive the second leg stop 520 to swing, at this time, the first driving module 21 and the first speed reducer 31 are not operated, and the first transmission shaft 41, the first transmission rod 51 and the first leg stop 510 are not operated.
Thus, the first control module 61 and the second control module 62 can control the first leg shield 510 and the second leg shield 520 to synchronously swing forward or backward, swing forward and backward, or swing immovably and backward as required by controlling the operating states of the first driving module 21 and the second driving module 22.
It should be noted that, a person skilled in the art can control the swing angles of the first leg rest 510 and the second leg rest 520 by controlling the rotation parameters of the motors as required.
(2) Situation in which leg rest remains stationary
It should be noted that, a person skilled in the art can control the rotation angle of the housing 8 by controlling the rotation parameters of the motor as required.
The above two cases describe the system control using the driving module as the power source, and the following describes the operation using the first leg rest 510 and the second leg rest 520 as the power input.
When the first leg shield 510 is rotated by the driving force, the first transmission rod 51 and the first transmission shaft 41 are driven to rotate, the first transmission shaft 41 drives the first speed reducer 31 to rotate, and the first driving module 21 does not work.
When the second leg shield 520 is driven to rotate by the driving force, the second transmission rod 52 and the second transmission shaft 42 are driven to rotate, the second transmission shaft 42 drives the second speed reducer 32 to rotate, and the second driving module 22 does not operate.
It should be noted that the first leg stop 510 and the second leg stop 520 may be controlled individually or simultaneously, that is, the first leg stop 510 and the second leg stop 520 may swing forward or backward simultaneously, one swing forward and one swing backward, and one swing still.
The embodiment of the utility model provides an ectoskeleton system can help the wearing person to accomplish the action of straightening the waist, reduces the wearing person and exert oneself at the waist of straightening the waist in-process, and it is especially important to the commodity circulation carrier that needs bow many times every day.
As shown in fig. 5 again, in order to facilitate the wearing of the wearer, the housing 8 is provided with fixing portions 81 at both sides thereof for fixing the straps, and further, in order to enhance the comfort and fixation of the straps, a back fixing frame 10 is provided at the top of the housing 8, and the straps are fixed by the back fixing frame 10 and the fixing portions 81, thereby fixing the exoskeleton system on the back of the wearer.
Further, when the exoskeleton system is worn by a wearer, the first leg shield 510 and the second leg shield 520 respectively fit the left thigh and the right thigh of the wearer. In order to reduce the load on the wearer, the first transmission lever 51, the second transmission lever 52, the first leg shield 510 and the second leg shield 520 are preferably made of titanium alloy tubes.
The embodiment of the utility model provides an ectoskeleton system can operate through multiple operation mode, and is concrete, the first condition: the exoskeleton system can be externally connected with a control device, so that the external control device artificially transmits a control signal, and the first control module 61 and the second control module 62 simultaneously drive the first driving module 21 and the second driving module 22 to rotate, so as to drive the shell 8 to rotate at a certain angle in the direction close to the leg stop, so as to control the bending degree of the wearer; in the second case: the exoskeleton system can also be provided with a gyroscope and a pressure sensor, so that the bending position and the bending trend of the human body are monitored and judged through the gyroscope and the pressure sensor, when the human body is sensed to have the straight waist trend, the first control module 61 and the second control module 62 simultaneously drive the first driving module 21 and the second driving module 22 to rotate, the shell 8 is driven to rotate by a certain angle in the direction away from the leg block, the human body shoulder is driven to move upwards, and the straight waist action is completed.
The specific processes of walking, bending and straightening the waist of the wearer while wearing the exoskeleton system are described in detail below.
When the wearer walks, the left and right legs alternately move forward, and the first leg shield 510 and the second leg shield 520 swing back and forth as the left and right legs swing back and forth. Therefore, when a wearer wears the exoskeleton system to walk, the first leg shield 510 and the second leg shield 520 can flexibly swing forwards and backwards along with the alternating of the left leg and the right leg, and when the wearer stops walking and stands still, the first leg shield 510 and the second leg shield 520 are not moved, that is, the first leg shield 510 and the second leg shield 520 of the exoskeleton system can flexibly change along with the movement state of the wearer.
When the wearer bends over, first leg keeps off 510 and second leg and keeps off 520 and compress tightly the thigh of wearer, the back is forward, the shoulder bandage drives casing 8 forward bending, this process can be accomplished by the wearer oneself, also can be through the artificial transmission control signal of external control equipment, first control module 61 and second control module 62 drive first drive module 21 and second drive module 22 simultaneously and rotate, drive casing 8 and rotate certain angle to the direction of being close to the leg fender, the bandage drives the wearer's back and bends forward from this, thereby helping hand wearer's action of bending over.
When the straight waist of wearing person, first leg keeps off 510 and second leg and keeps off 520 and compress tightly the thigh of wearing person, can be through artificial transmission control signal of external controlgear, also can monitor and judge human crooked position and crooked trend through the built-in monitoring module of system, when sensing when the human straight waist trend of sensing, generate control signal, first control module 61 and second control module 62 drive first drive module 21 and second drive module 22 simultaneously and rotate, drive casing 8 and rotate certain angle to the direction of keeping away from the leg fender, from this bandage pulling wearing person's back backward, and then drive the wearing person shoulder upwards, thereby helping hand wearing person accomplishes the straight waist action.
The embodiment of the utility model provides a pair of ectoskeleton system adopts electric control, simple structure, light in weight, uses in a flexible way, and in addition, the person of wearing can keep highly uniform motion with the human body when dressing this system, and can the helping hand person of wearing accomplish straight waist action.
In the present invention, the term "plurality" means two or more unless explicitly defined otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", "front", "back", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or unit indicated must have a specific direction, be constructed and operated in a specific orientation, and therefore, should not be construed as limiting the present invention.
In the description herein, the description of the terms "a particular embodiment," "some embodiments," "an embodiment," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above description is only the embodiments of the present invention, and is not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. An exoskeleton system comprising a link, a first drive module, a first speed reducer, a first drive shaft, a first transfer lever, a second drive module, a second speed reducer, a second drive shaft, a second transfer lever, a first control module and a second control module;
the fixed end of the first driving module and the fixed end of the second driving module are respectively fixed on two sides of the connecting piece;
the power input end of the first speed reducer is connected with the power output end of the first driving module, the power output end of the first speed reducer is connected with one end of the first transmission shaft, the first driving module drives the first speed reducer, and the first speed reducer generates driving force to drive the first transmission shaft to rotate;
the other end of the first transmission shaft is connected with one end of the first transmission rod; the other end of the first transmission rod is provided with a first leg stop;
the power input end of the second speed reducer is connected with the power output end of the second driving module, the power output end of the second speed reducer is connected with one end of the second transmission shaft, the second driving module drives the second speed reducer, and the second speed reducer generates driving force to drive the second transmission shaft to rotate;
the other end of the second transmission shaft is connected with one end of the second transmission rod; the other end of the second transmission rod is provided with a second leg stop;
the first control module and the second control module are respectively and electrically connected with the first driving module and the second driving module, so that a first control signal and a second control signal are respectively generated to respectively control the first driving module and the second driving module to drive the first speed reducer and the second speed reducer.
2. The exoskeleton system of claim 1 wherein the link comprises a first link plate, a second link plate and a link portion; one side of the first connecting plate and one side of the second connecting plate are respectively fixed on two sides of the connecting part;
the fixed end of the first driving module is fixedly connected with the first connecting plate; the fixed end of the second driving module is fixedly connected with the second connecting plate.
3. The exoskeleton system of claim 2, wherein the exoskeleton system further comprises a first box and a second box;
one end of the first box body is buckled on the first connecting plate, so that one ends of the first driving module, the first speed reducer and the first transmission shaft are accommodated in the first box body;
one end of the second box body is buckled on the second connecting plate, so that one ends of the second driving module, the second speed reducer and the second transmission shaft are accommodated in the second box body.
4. The exoskeleton system of claim 3 further comprising a first cover plate and a second cover plate; the first cover plate and the second cover plate are both provided with openings;
the first cover plate is buckled at the other end of the first box body, and the other end of the first transmission shaft is exposed out of the opening of the first cover plate;
the second cover plate is buckled at the other end of the second box body, and the other end of the second transmission shaft is exposed out of the opening of the second cover plate.
5. The exoskeleton system of claim 3, wherein said first control module is secured to an outside of said first housing and said second control module is secured to an outside of said second housing;
the exoskeleton system further comprises a third cover plate buckled on the outer sides of the first box body and the second box body, and the first control module and the second control module are contained in the third cover plate.
6. The exoskeleton system of claim 2, wherein the exoskeleton system further comprises a housing and a power source;
the bottom of the shell is fixedly connected with the top of the connecting part;
the power supply is accommodated in the shell and supplies power to the first control module, the first driving module, the second control module and the second driving module.
7. An exoskeleton system as claimed in claim 6 wherein the housing is provided with fixing portions on each side for fixing straps to secure the exoskeleton system to the back of the wearer.
8. The exoskeleton system of claim 1, wherein the first and second control modules generate the first and second control signals under the control of the host computer such that the first drive module drives the first speed reducer and the second drive module drives the second speed reducer to move in the same direction or in different directions.
9. The exoskeleton system of claim 1 wherein when the first transfer lever is rotated by the driving force, the first transfer lever rotates the first transfer shaft, and the first transfer shaft rotates the first reduction gear.
10. The exoskeleton system of claim 1 wherein said second drive shaft rotates when said second drive rod is rotated by said drive force, said second drive shaft rotating said second speed reducer.
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| CN201920691125.1U CN209919882U (en) | 2019-05-14 | 2019-05-14 | Exoskeleton system |
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| CN201920691125.1U CN209919882U (en) | 2019-05-14 | 2019-05-14 | Exoskeleton system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113134841A (en) * | 2021-04-08 | 2021-07-20 | 北京理工大学 | Humanoid robot based on joint-crossing cooperative driving |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113134841A (en) * | 2021-04-08 | 2021-07-20 | 北京理工大学 | Humanoid robot based on joint-crossing cooperative driving |
| CN113134841B (en) * | 2021-04-08 | 2022-05-17 | 北京理工大学 | A Humanoid Robot Based on Cross-joint Collaborative Drive |
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