Multi-functional auxiliary walking ectoskeleton containing used appearanceTechnical field
The invention belongs to mechanical exoskeleton technologies, and in particular to a kind of multi-functional auxiliary walking ectoskeleton containing used appearance.
Background technique
Used container there are two can freely relative motion endpoint, when a pair of of power acts on two endpoints, two endpointsRelative acceleration and power it is proportional, which is constant, referred to as inertia.The used main feature held includes: with twoA independence, free movement endpoint；With lesser quality and independent inertia；Any endpoint is not needed to add in inertial referenceIt fastens；With limited linear course, and submit to the proper restraint of overall dimensions.
The used major function held includes absorption of vibrations, suspension design, instead of quality etc., is had broad application prospects.?Transport service field, it is used to hold the vibration damping that can be used for undercarriage, the suspension system of the various vehicles such as train, automobile can be used inMiddle promotion suspension property, so as to improve various performance indicators such as riding comfort, tire road holding, vehicle controllabilities.It is buildingEngineering field is built, it is used to hold the vibration damping that can be used for multi-layer construction structure, effectively improve the antiseismic ability of building.
Used concept of holding proposes so far, to have had already appeared the used capacitance device of multiple structural forms, according to used appearance way of realizationDifference, used appearance can be divided into mechanical used appearance and fluid is used to hold two major classes.Used appearance can realize by several different methods, such asBall screw type is used to appearance, torsional mode is used to appearance, hydraulic piston type is used to appearance, hydraulic pump type is used to appearance, spiral liquid is used to appearance etc..
Auxiliary walking ectoskeleton technology can make the handicapped people in leg obtain ability to act, help with leg diseases orThe patient of leg injury carries out rehabilitation.
Summary of the invention
The multi-functional auxiliary that the purpose of the present invention is to provide a kind of containing used appearance is walked ectoskeleton, solves existing secondary rowWalking ectoskeleton does not have vibration-damping function, or the problem for causing damping property weaker only with traditional spring-damper damper mechanism.
The technical solution for realizing the aim of the invention is as follows: a kind of multi-functional auxiliary walking ectoskeleton containing used appearance, includingBottom plate, limit plate, four flexural pivots, two braces and two shank bars, four flexural pivots are distributed in plate top surface in quadrangle, limitPlate is fixed on plate top surface, is located at heel, plays limitation foot when walking and slides backward, four flexural pivots are divided into two in pairsGroup, first group is located at forefoot two sides, second group of front positioned at limit plate, and two shank bars are close to shank two sides, bottom endBe rotatablely connected respectively with second group of flexural pivot, two brace bottom ends are rotatablely connected with first group of flexural pivot respectively, and top is respectively with twoRoot shank club body is rotatablely connected by revolute pair.
Brace includes the first pressurized strut and the first damper mechanism, the upper end of the lower end of the first pressurized strut and the first damper mechanismIt is connected.
Shank bar includes the second pressurized strut and the second damper mechanism, and the lower end of the second pressurized strut is upper with the second damper mechanismEnd is connected.
Compared with prior art, the present invention its remarkable advantage is: (1) can effectively improve mechanical structure using used appearance and subtractThe characteristic for performance of shaking promotes the damping property of auxiliary walking ectoskeleton.
(2) auxiliary walking ectoskeleton is made by damper mechanism, pressurized strut while there is vibration damping, regulatory function, enhancing auxiliaryThe practicability of walking ectoskeleton, makes it be applicable to wider application range.
Detailed description of the invention
Fig. 1 is the three-dimensional figure of the auxiliary walking ectoskeleton of the present invention containing used appearance.
Fig. 2 is the front view of Fig. 1.
Fig. 3 is the top view of Fig. 1.
Fig. 4 is the three-dimensional figure of the brace of Fig. 1, and wherein damper mechanism uses embodiment 1.
Fig. 5 is the three-dimensional figure of the shank bar of Fig. 1, and wherein damper mechanism uses embodiment 1.
Fig. 6 is 2 figure of embodiment of the damper mechanism of Fig. 1.
Fig. 7 is 3 figure of embodiment of the damper mechanism of Fig. 1.
Specific embodiment
Present invention is further described in detail with reference to the accompanying drawing.
In conjunction with Fig. 1 to Fig. 7, a kind of multi-functional auxiliary walking ectoskeleton containing used appearance, including bottom plate 1, limit plate 5, four2, two braces 6 of flexural pivot and two shank bars 7, four flexural pivots 2 are distributed in 1 top surface of bottom plate in quadrangle, and limit plate 5 is fixed on bottom1 top surface of plate is located at heel, plays limitation foot when walking and slides backward, four flexural pivots 2 are divided into two groups, first group in pairsPositioned at forefoot two sides, second group of front positioned at limit plate 5, two shank bars 7 are close to shank two sides, and 7 bottom end of shank bar isSpherical shape, bottom end be rotatablely connected respectively with second group of flexural pivot 2, two 6 bottom ends of brace are spherical shape, bottom end respectively with first group of flexural pivot2 rotation connections, top are rotatablely connected with two 7 shafts of shank bar by revolute pair respectively.
Brace 6 includes the first pressurized strut 10 and the first damper mechanism, lower end and the first damper mechanism of the first pressurized strut 10Upper end be connected.
Further, the first damper mechanism includes the first spring 11, first damping 12 and the first used appearance 13 in parallel.
Further, the first damper mechanism includes the first spring 11, first damping 12 and the first used appearance 13, wherein the first resistanceBuddhist nun 12 and the first used appearance 13 are in parallel with the first spring 11 after connecting.
First damper mechanism includes first the 12, first used appearance 13 of damping and two first springs 11, wherein the first damping 12In parallel with first spring 11 is the first branch, first it is used it is in parallel to hold 13 another first springs 11 is second branch, firstBranch and second branch are connected again.
Shank bar 7 includes the second pressurized strut 15 and the second damper mechanism, the lower end of the second pressurized strut 15 and the second vibration damping machineThe upper end of structure is connected.
Second damper mechanism includes the damping of second spring 16, second 17 and the second used appearance 18 in parallel.
Second damper mechanism include the damping of second spring 16, second 17 and second it is used hold 18, wherein the second damping 17 and theIt is in parallel with second spring 16 after two used 18 series connection of appearance.
Second damper mechanism includes second the 17, second used appearance 18 of damping and two second springs 16, wherein the second damping 17In parallel with second spring 16 is the first branch, first it is used it is in parallel to hold 18 another second springs 16 is second branch, firstBranch and second branch are connected again.
The multi-functional auxiliary walking ectoskeleton containing used appearance, further includes the first restraining 3, the second restraining 4 and thirdRestraining 8,3 both ends of the first restraining are fixed on 1 top surface of bottom plate, and are located at forefoot position, and 4 both ends of the second restraining are fixed on1 top surface of bottom plate, and it is located at second group of flexural pivot, 2 front, the first restraining 3 and the second restraining 4 are used to foot being bundled in bottom plate 1On；Third restraining 8 in a ring, fixes two shank bars, 7 top, for binding leg and shank bar 7.
When walking, when the described auxiliary walking ectoskeleton, which is located at, not to land in the air, two first pressurized struts 10 and twoThe length of second pressurized strut 15 changes the length for making shank bar 7 and bottom plate 1 and the angle of shank bar 7 changes, to make outerBone reaches the posture for being suitble to current road conditions before landing.After ectoskeleton landing, two first pressurized struts 10 and two secondThe length of pressurized strut 15 is kept fixed, according to landing posture and contact ground sequencing, with two first pressurized struts 10 andFour connected damper mechanisms of two second pressurized struts 15 play vibration-damping function each independently.