CN106891359B - Knee joint structure for lower limb exoskeleton robot - Google Patents
Knee joint structure for lower limb exoskeleton robot Download PDFInfo
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- CN106891359B CN106891359B CN201710257866.4A CN201710257866A CN106891359B CN 106891359 B CN106891359 B CN 106891359B CN 201710257866 A CN201710257866 A CN 201710257866A CN 106891359 B CN106891359 B CN 106891359B
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- gas spring
- knee joint
- leg assembly
- big leg
- user
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Abstract
The present invention relates to a kind of knee joint structures for lower limb exoskeleton robot, it is connected between shank component and big leg assembly by four bar linkage knee joint, and gas spring is also equipped between shank component and big leg assembly, one end of gas spring is connected in big leg assembly, the other end is slidably connected with the gas spring slide way mechanism being fixed on shank component, using gas spring realize stand to sit down, sit down to midstance transformation when power-assisted.When user's normal walking, because gas spring sliding will not reach the bottom of gas spring slide way mechanism caused by knee joint bending, gas spring does not influence normal walking without compression stress；When user carries out from standing to sitting down, when sitting down to the transformation of midstance, because gas spring slides the bottom of reachable gas spring slide way mechanism caused by knee joint bending, gas spring is caused to compress stress, storage energy, to provide power-assisted to sitting down, sitting down to when midstance converts standing.
Description
Technical field
The present invention relates to a kind of knee joint structures for lower limb exoskeleton robot, especially a kind of to be used for knee joint station
Stand sit down, sit down to midstance converted power-assisted effect without influence normal gait knee joint on-propelled power-assisted knot
Structure belongs to robotic technology field.
Background technique
Ectoskeleton is a kind of robot for combining artificial intelligence and mechanical driver unit；It is worn on outside operator, melts
Closed control, sensing and the technologies such as man-computer cooperation, the mechanical device of the functions such as support, movement, protection be provided, military, life,
Medical treatment etc. is with a wide range of applications.Human body lower limbs exoskeleton robot is a kind of man-machine one that people can be allowed to dress
Change mechanical device, is capable of providing and configuration, the external structure of building and protection are carried out to human body soft inside organ.It superior
Property be can by support, movement, protection three functions combine closely.It helps the disabled or rehabilitation field for helping the elderly, the master of ectoskeleton
Syllabus is the movement for assisting human body itself muscle, has reached and paralytic patient and the elderly is helped to carry out the effect of muscular recuperation training
Fruit.The research of current lower limb exoskeleton mostly concentrates on each joint motor active drive, and the size of motor, weight, battery connect
The continuous development that lower limb exoskeleton is significantly limited using the time.
Application number 201610948436.2 proposes a kind of lower limb exoskeleton boosting mechanism, closes in hip joint, knee joint, ankle
Driven respectively using hydraulic pump at section, although can reach more driving freedom degree, the weight of entire lower limb exoskeleton and
The degree of difficulty of operation greatly increases.
Application number 201410735565.4 proposes a kind of lower limb exoskeleton robot structure for assisting walking, in hip
Installation of driver at joint and knee joint, kneed power-assisted use motor power-assisted, this knee joint structure can not adjust human body row
Instantaneous center of rotation when walking, and increase the consumption of ectoskeleton overall weight and electric energy.
Application number 201410353073.9 proposes a kind of single driving coordinated type lower limb assistance exoskeleton structure, although also adopting
It is controlled with single motor, but the thigh drive sprocket structure bulky of its waist module, volume is excessive, and cannot provide to user
The power-assisted sit down, stood.
When human normal is walked, kneed center of rotation is dynamic change, current motor drive-type and hydraulic-driven
Formula lower limb exoskeleton knee joint cannot simulate kneed such variation；And human body attitude (sit down-stand, stand-sit down)
Transformation realized by drive-type structure so that motor power consumption increase, driving structure are complicated.
Summary of the invention
In view of the above problems, the present invention propose a kind of knee joint center of rotation changing rule when meeting human body walking and
Play the role of the on-propelled knee joint structure of power-assisted in human body attitude (stand-sit down, sit down-stand) variation.
To achieve the above object, the present invention takes following technical scheme: a kind of knee pass for lower limb exoskeleton robot
Section structure, including shank component, big leg assembly are connected between the shank component and big leg assembly by four bar linkage knee joint,
Keep the instantaneous center of velocity of lower limb assistance exoskeleton consistent with the kneed instantaneous center of velocity variation of user, realizes and more naturally walk
State, and gas spring is also equipped between shank component and big leg assembly, one end of the gas spring is connected in big leg assembly,
The other end is slidably connected with the gas spring slide way mechanism being fixed on shank component, is realized and is stood to sitting down, sit using gas spring
Power-assisted when midstance transformation is arrived down.
The gas spring is equipped with gas spring locking mechanism, when user sits down completely, in gas spring locking mechanism
Pin can be inserted under the action of the spring in the groove being pre-machined in gas spring, so that gas spring be locked, when user from
When sitting down to the carry out posture changing of standing, the pin pushed back in gas spring locking mechanism realizes unlock.
Power-assisted leaf spring is installed on the four bar linkage knee joint, for user normal walking, stand to sitting down, sit down
To the power-assisted of the posture changing of standing.
When user carries out posture changing from standing to sitting down, the big leg assembly is turned under relative to shank component
Song, when the gas spring one end being placed in gas spring slide way mechanism slides into gas spring slide way mechanism bottom, big leg assembly continues past
When lower bending, the gas spring forced compression provides support power-assisted to sitting down, prevents user from sitting down suddenly.
The present invention has the advantages that due to taking above technical scheme
1, drive-type boosting mechanism is not used at knee joint, power-assisted can be realized without motor, hydraulic pump etc..
2, the power-assisted stood to when sitting down, sitting down to midstance transformation is realized using gas spring, but does not influence user
Normal walking.
3, between big leg assembly and shank component use four bar linkage knee joint, make lower limb assistance exoskeleton instantaneous center of velocity and
The kneed instantaneous center of velocity variation of user is consistent.
4, it is the normal walking of user, stands to the appearance for standing of sitting down, sit down to added with leaf spring on four bar linkage knee joint
State transformation provides power-assisted.
Detailed description of the invention
Fig. 1 is the knee joint structure main view for lower limb exoskeleton robot；
Fig. 2 is variation view of the knee joint structure when standing, walking, sitting down for lower limb exoskeleton robot；
Fig. 3 is sat down view for the knee joint structure of lower limb exoskeleton robot；
Fig. 4 is gas spring locking mechanism partial view when sitting down.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawing.
As shown in fig. 1 to fig. 4, the present invention provides a kind of knee joint structure for lower limb exoskeleton robot, including foot
Plate 1, shank component 2, gas spring slide way mechanism 3, gas spring 4, power-assisted leaf spring 5, four bar linkage knee joint 6, gas spring locking mechanism
7, big leg assembly 8, hip joint driving motor 9.
It is connected between shank component 2 and big leg assembly 8 by four bar linkage knee joint 6, and shank component 2 and big leg assembly
Gas spring 4 is also equipped between 8, one end of gas spring 4 is connected in big leg assembly 8, the other end and is fixed on shank component 2
Gas spring slide way mechanism 3 be slidably connected, utilize gas spring 4 realize stand to sit down, sit down to midstance transformation when helping
Power.Gas spring 4 is equipped with gas spring locking mechanism 7.Power-assisted leaf spring 5 is installed on four bar linkage knee joint 6,
When user's normal walking, due to using four bar linkage knee joint 6 to connect between big leg assembly 8 and shank component 2,
In support phase, for knee joint center of rotation at the rear to the line line of force, ground reaction force forms anticlockwise moment at knee joint, prevents
Knee sprung keeps standing and stablize.When starting buckling, center of rotation is immediately moved in front of the line of force, thus be easy into
Enter swing phase.So the kneed instantaneous center of velocity of lower limb walk-aiding exoskeleton and the kneed instantaneous center of velocity variation of user can be made
Unanimously, more natural gait is realized with this, and added with power-assisted leaf spring 5 on four bar linkage knee joint 6, also carried out when walking
Power-assisted.Since the lower end of gas spring 4 can be slided in the gas spring slide way mechanism 3 being fixed on shank component 2, and normal row
Maximum sliding distance will not reach the bottom of gas spring slide way mechanism 3 when walking, therefore gas spring is not forced compression, not influence just
Normal gait.
When user carries out posture changing from standing to sitting down, big leg assembly 8 is bent downwardly relative to shank component 2,
Since one end of gas spring 4 is fixed in big leg assembly 8, so the other end can be in the gas spring being fixed on shank component 2
It is slided in slide way mechanism 3, when sliding into gas spring 3 bottom of slide way mechanism, big leg assembly 8 also will continue to be bent down, at this time
The meeting forced compression of gas spring 4 also both prevents user from sitting down suddenly to offer support power-assisted of sitting down.When user sits down completely
When, the pin in gas spring locking mechanism 7 can be inserted under the action of the spring in the groove being pre-machined in gas spring 4, thus
Gas spring 4 is locked, to complete the transformation stood to posture of sitting down.
When user is from the carry out posture changing for sitting down to standing, big leg assembly 8 is relative to the folder between shank component 2
Angle increase, i.e., gas spring needs moved upwards in slide way mechanism, at this time user pull foreign object obtain one it is bigger
The power stood of promotion, so that pushing back pin in gas spring locking mechanism 7 realizes unlock, because of pressure when the release of gas spring 4 is sat down
Contract the energy stored, so that giving user to stand provides power-assisted.
Claims (3)
1. a kind of knee joint structure for lower limb exoskeleton robot, including shank component (2), big leg assembly (8), feature
It is: is connect between the shank component (2) and big leg assembly (8) by four bar linkage knee joint (6), make lower limb assistance exoskeleton
Instantaneous center of velocity it is consistent with the kneed instantaneous center of velocity variation of user, realize more natural gait, and shank component (2)
It is also equipped between big leg assembly (8) gas spring (4), one end of the gas spring (4) is connected on big leg assembly (8), separately
One end is slidably connected with the gas spring slide way mechanism (3) being fixed on shank component (2), realizes to stand using gas spring (4) and arrive
Sit down, sit down to midstance transformation when power-assisted；The gas spring (4) is equipped with gas spring locking mechanism (7), works as user
When sitting down completely, the pin in gas spring locking mechanism (7), which can be inserted under the action of the spring in gas spring (4), to be pre-machined
In groove, so that gas spring (4) be locked, when user is from the carry out posture changing for sitting down to standing, gas spring lock is pushed back
The pin determined in mechanism (7) realizes unlock.
2. the knee joint structure according to claim 1 for lower limb exoskeleton robot, it is characterised in that: described four connect
Power-assisted leaf spring (5) are installed on bar knee joint (6), for user normal walking, stand to sitting down, sit down to the appearance of standing
The power-assisted of state transformation.
3. the knee joint structure according to claim 1 or 2 for lower limb exoskeleton robot, it is characterised in that: when making
When user carries out posture changing from standing to sitting down, the big leg assembly (8) is bent downwardly relative to shank component (2), when setting
Gas spring (4) one end in gas spring slide way mechanism (3) slides into gas spring slide way mechanism (3) bottom, big leg assembly (8) after
Continuous when being bent down, gas spring (4) forced compression provides support power-assisted to sitting down, prevents user from sitting down suddenly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710257866.4A CN106891359B (en) | 2017-04-19 | 2017-04-19 | Knee joint structure for lower limb exoskeleton robot |
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| CN201710257866.4A CN106891359B (en) | 2017-04-19 | 2017-04-19 | Knee joint structure for lower limb exoskeleton robot |
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| CN106891359A CN106891359A (en) | 2017-06-27 |
| CN106891359B true CN106891359B (en) | 2019-05-21 |
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| CN114800449A (en) * | 2022-04-15 | 2022-07-29 | 电子科技大学 | Upper limb assistance exoskeleton robot with variable assistance torque |
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| JP6941037B2 (en) * | 2017-11-24 | 2021-09-29 | 川崎重工業株式会社 | Robot knee structure |
| CN108247618B (en) * | 2018-04-12 | 2021-12-10 | 昆山市科洛克机器人科技有限公司 | Lower limb exoskeleton capable of reducing load of back and knee joint |
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| CN109620653A (en) * | 2019-01-30 | 2019-04-16 | 南方科技大学 | It is a kind of to merge adaptive kneed lower limb exoskeleton structure and robot |
| CN109927016B (en) * | 2019-04-15 | 2023-11-28 | 河北工业大学 | Lower limb exoskeleton with variable axis knee joint |
| CN110216653A (en) * | 2019-05-28 | 2019-09-10 | 太原理工大学 | A kind of mining hydraulic servo ectoskeleton power-assisting robot |
| CN110215295A (en) * | 2019-07-11 | 2019-09-10 | 河北工业大学 | A kind of lower limb help seat device |
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| CN113547505B (en) * | 2021-06-18 | 2023-02-28 | 迈宝智能科技(苏州)有限公司 | Highly integrated load-bearing lower limb leg control module |
| CN113618777A (en) * | 2021-08-27 | 2021-11-09 | 深圳市优必选科技股份有限公司 | Joint bidirectional energy storage device, robot joint structure and robot |
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| CN117357314B (en) * | 2023-12-08 | 2024-04-05 | 浙江强脑科技有限公司 | Seating control method, apparatus, intelligent leg prosthesis, terminal and storage medium |
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Effective date of registration: 20220815 Address after: Room 109, office building 2, No. 516, Jungong Road, Yangpu District, Shanghai 200093 Patentee after: Shanghai science and technology assets management Co.,Ltd. Address before: 200093 No. 516, military road, Shanghai, Yangpu District Patentee before: University of Shanghai for Science and Technology |