CN107243886B - A kind of exoskeleton robot knee joint of adjustable force increasing ratio - Google Patents
A kind of exoskeleton robot knee joint of adjustable force increasing ratio Download PDFInfo
- Publication number
- CN107243886B CN107243886B CN201710404068.XA CN201710404068A CN107243886B CN 107243886 B CN107243886 B CN 107243886B CN 201710404068 A CN201710404068 A CN 201710404068A CN 107243886 B CN107243886 B CN 107243886B
- Authority
- CN
- China
- Prior art keywords
- bar
- shank
- connector
- hinged
- elongation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 210000000629 knee joint Anatomy 0.000 title claims abstract description 19
- 210000000689 upper leg Anatomy 0.000 claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 238000006073 displacement reaction Methods 0.000 claims abstract description 5
- 238000003780 insertion Methods 0.000 claims abstract description 5
- 230000037431 insertion Effects 0.000 claims abstract description 5
- 210000001699 lower leg Anatomy 0.000 claims description 64
- 210000002414 leg Anatomy 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 5
- 210000003141 lower extremity Anatomy 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000003862 health status Effects 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of exoskeleton robot knee joint of adjustable force increasing ratio, including thigh bar, hydraulic cylinder, the first connector, the second connector, shank elongation bar and shank socket bar.Thigh bar, the first connector, the second connector and shank elongation bar are by be hinged, the composition bar force-increasing mechanism of plane four；Wherein the second connector is according to required operating mode, the hole different from shank elongation bar connection, equivalent to rocking bar length in four-bar mechanism is changed, so as to change force increasing ratio.Sliding pair is formed in shank elongation bar insertion shank sleeve rod aperture, and grating displacement transducer is housed, flexible adjustment length simultaneously informs wearer by the display screen in elongation bar；Elongation bar and socket bar are locked by tightening the bolt on shank socket bar.Limited block in shank elongation bar, the motion of extreme position can be limited in, avoids ectoskeleton from causing to damage to wearer.The present invention realizes big assist rate and improves the applicability and security of wearer by simple mechanism and cooperation.
Description
Technical field
The present invention relates to a kind of exoskeleton robot knee joint, more particularly to a kind of ectoskeleton machine of adjustable force increasing ratio
Human knee joint.
Background technology
One of knee joint joint important as human body lower limbs is, it is necessary to carry the weight of whole trunk, its health status
Directly influence the proper motion of human body lower limbs.So the kneed design of exoskeleton robot is that exoskeleton robot is realized
One of key of human body behavior enhancing.
At present, most of ectoskeleton power-assisting robot knee joint uses the structure design partly to personalize, such as human body
Motion of knee joint one tri-joint mechanism connecting rod is formed using simplified fixed-axis rotation pair, the thigh of ectoskeleton, shank and hydraulic cylinder
Mechanism.Although this mechanism layout comparison is simple, larger stroke is needed to meet the activity point of view in wearer joint,
So its volume is big, quality is big, it is necessary to the pressure of hydraulic cylinder input is big, and force increasing ratio（Assist rate）It can not be changed according to operating mode
Become, cause power consumption big.Furthermore the knee joint of exoskeleton robot on the market without fully consider wearer applicability and
Security, sometimes just think of wherein on the one hand.
The content of the invention
For the deficiency of structure in background technology, it is an object of the invention to provide a kind of ectoskeleton machine of adjustable force increasing ratio
Human knee joint, by changing the length of rocking bar in the bar force-increasing mechanism of plane four, to change the kneed reinforcement of exoskeleton robot
Than, the power consumption of exoskeleton robot is reduced, while its respective outer side edges is simple, while consider the applicability and safety of wearer
Property.
The technical solution adopted by the present invention is：
The present invention includes thigh bar, hydraulic cylinder, the first connector, the second connector, shank elongation bar and shank socket bar；
Thigh bar bottom and one end of the first connector are hinged, and one end of the other end of the first connector and the second connector is hinged, the
The other end of two connectors is hinged with shank elongation bar upper side plate hole, and thigh bar lower end is hinged with shank elongation bar upper end,
Form the bar force-increasing mechanism of plane four；Hydraulic cylinder bottom is hinged with the thigh bar above the first connector, hydraulic cylinder extension bar
With being hinged in the middle part of the first connector；In shank elongation bar bottom insertion shank sleeve rod aperture, and form and slide with shank socket bar
Pair, it is engaged part with shank socket bar in shank elongation bar and is respectively provided with quiet grating and dynamic grating, quiet grating and dynamic grating structure
Into grating displacement transducer；Shank elongation bar, to movement, adjusts fixed, shank after lower-leg length in shank sleeve rod aperture interior axle
Display screen is housed in elongation bar.
The shank elongation bar upper side of the thigh bar lower end and shank elongation bar upper end hinged place, knee can be limited by being welded with
Limited block of the joint in the motion of extreme position.
First connector is arc connector.
Multiple holes are provided with the shank elongation bar upper side panel, the other end of the second connector can take up an official post with side panel
One hole of meaning is hinged.
The limited block is right angled triangle limited block.
The invention has the advantages that：
1) present invention is by the way that under different operating modes, the second connector hole different from shank elongation bar is hinged, equivalent to changing
Become the length of rocking bar in the bar force-increasing mechanism of plane four, to change the kneed force increasing ratio of exoskeleton robot, so as to reduce dermoskeleton
The power consumption of bone robot.
2) limited block in shank elongation bar, the motion of shank extreme position can be limited in, avoids ectoskeleton to wearer
Cause to damage.
3) present invention is by adjusting the length of shank elongation bar and shank socket bar, and is accused by the display screen in elongation bar
Know wearer, improve the applicability of wearer.
4) four-bar linkage of the invention, limited block and locking mechanism structure are compact, coordinate simple, small volume, weight
Gently, be easy to the control of exoskeleton robot control system, meet the basic use demand of wearer, be suitable for medical rehabilitation,
The fields such as individual combat, rescue and relief work.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is shank elongation bar structural representation.
Fig. 3 is knee joint extreme position schematic diagram.
In figure：1st, thigh bar, 2, hydraulic cylinder, the 3, first connector, the 4, second connector, 5, shank elongation bar, 6, shank
Socket bar, 501, limited block, 502, circular hole, 503, display screen, 504, length limited block.
Embodiment
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, the present invention include thigh bar 1, hydraulic cylinder 2, the first connector 3, the second connector 4,
Shank elongation bar 5 and shank socket bar 6；
The bottom of thigh bar 1 and one end of the first connector 3 are hinged, the other end of the first connector 3 and the second connector 4
One end is hinged, and the other end and the upper side plate hole of shank elongation bar 5 of the second connector 4 are hinged, and the lower end of thigh bar 1 is stretched with shank
The upper end of stock 5 is hinged, and forms the bar force-increasing mechanism of plane four；The bottom of hydraulic cylinder 2 and the thigh bar 1 above the first connector 3
Be hinged, the extension bar of hydraulic cylinder 2 and the middle part of the first connector 3 are be hinged；In the hole of the bottom of shank elongation bar 5 insertion shank socket bar 6, and
Form sliding pair with shank socket bar 6, shank elongation bar 5 be engaged with shank socket bar 6 part be respectively provided with quiet grating and
Dynamic grating, quiet grating and dynamic optical grating constitution grating displacement transducer；Shank elongation bar 5 is axially moved in the hole of shank socket bar 6
It is dynamic, lower-leg length is adjusted, suitable for the wearer of different legs length；Display screen 503 is housed in shank elongation bar 5；Stretched by shank
Insertion shank 6 length of socket bar of the limitation shank of length limited block 504 elongation bar 5 on stock 5 are excessive, prevent from destroying display screen
503；Shank elongation bar 5 and shank socket bar 6 are locked by tightening two bolts on the upper side panel of shank socket bar 6.
As shown in figure 3, the upper end side of shank elongation bar 5 of the lower end of thigh bar 1 and the upper end hinged place of shank elongation bar 5
Face, it is welded with the limited block 501 that can limit motion of the knee joint in extreme position.
As shown in figure 3, first connector 3 is arc connector, avoid in extreme position and thigh bar 1 and shank
Elongation bar 5 interferes.
It is as depicted in figs. 1 and 2, axially aligned to be provided with multiple circular holes 502 on the upper side panel of shank elongation bar 5,
The other end of second connector 4 can be hinged, equivalent to four bar machines of change according to required operating mode with any one hole on side panel
Rocking bar length in structure, so as to change force increasing ratio, reach the matching of force increasing ratio and operating mode, so as to reduce power consumption.
As shown in figure 3, the limited block 501 is right angled triangle limited block or set at any angle according to design requirement
Triangle limited block.Extreme position is in knee joint（Thigh bar 1 and shank elongation bar 5 are at an angle of 90）When, limited block 501 with
Thigh bar 1 contacts, and avoids the hyperflexion of exoskeleton robot from causing to damage to wearer, improves the peace of exoskeleton robot
Quan Xing.
As shown in Fig. 2 shank elongation bar 5 is provided with display screen 503, the length value that grating displacement transducer is collected
Record and inform exoskeleton robot wearer, avoid repeating debugging length when next time, wearing used, improve wearer's
Applicability.
Above-mentioned embodiment is used for illustrating the present invention, does not limit the invention, in the essence of the present invention
In god and scope of the claims, to any modifications and changes of the invention made, protection scope of the present invention is both fallen within.
Claims (5)
1. a kind of exoskeleton robot knee joint of adjustable force increasing ratio, including thigh bar (1) and hydraulic cylinder (2)；It is characterized in that：
Also include the first connector (3), the second connector (4), shank elongation bar (5) and shank socket bar (6)；
Thigh bar (1) bottom and one end of the first connector (3) are hinged, the other end and the second connector of the first connector (3)
(4) one end is hinged, and the other end and shank elongation bar (5) upper side plate hole of the second connector (4) are hinged, thigh bar (1)
Lower end is hinged with shank elongation bar (5) upper end, forms the bar force-increasing mechanism of plane four；Hydraulic cylinder (2) bottom is connected with positioned at first
The thigh bar (1) of part (3) above is be hinged, be hinged in the middle part of hydraulic cylinder (2) extension bar and the first connector (3)；Shank elongation bar (5)
In insertion shank socket bar (6) hole of bottom, and sliding pair is formed with shank socket bar (6), in shank elongation bar (5) and shank set
Cylinder bar (6) is engaged part and is respectively provided with quiet grating and dynamic grating, quiet grating and dynamic optical grating constitution grating displacement transducer；It is small
Leg elongation bar (5) moves axially in shank socket bar (6) hole, is fixed after adjusting lower-leg length, shank elongation bar is equipped with (5)
Display screen (503).
A kind of 2. exoskeleton robot knee joint of adjustable force increasing ratio according to claim 1, it is characterised in that：It is described big
Shank elongation bar (5) upper side of leg bar (1) lower end and shank elongation bar (5) upper end hinged place, knee joint can be limited by being welded with
In the limited block (501) of the motion of extreme position.
A kind of 3. exoskeleton robot knee joint of adjustable force increasing ratio according to claim 1, it is characterised in that：Described
A connection piece (3) is arc connector.
A kind of 4. exoskeleton robot knee joint of adjustable force increasing ratio according to claim 1, it is characterised in that：It is described small
Multiple holes are provided with leg elongation bar (5) upper side panel, the other end of the second connector (4) can be with any one hole on side panel
It is be hinged.
A kind of 5. exoskeleton robot knee joint of adjustable force increasing ratio according to claim 2, it is characterised in that：The limit
Position block (501) is right angled triangle limited block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710404068.XA CN107243886B (en) | 2017-06-01 | 2017-06-01 | A kind of exoskeleton robot knee joint of adjustable force increasing ratio |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710404068.XA CN107243886B (en) | 2017-06-01 | 2017-06-01 | A kind of exoskeleton robot knee joint of adjustable force increasing ratio |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107243886A CN107243886A (en) | 2017-10-13 |
| CN107243886B true CN107243886B (en) | 2018-04-10 |
Family
ID=60018485
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710404068.XA Expired - Fee Related CN107243886B (en) | 2017-06-01 | 2017-06-01 | A kind of exoskeleton robot knee joint of adjustable force increasing ratio |
Country Status (1)
| Country | Link |
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| CN (1) | CN107243886B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109178138B (en) * | 2018-10-25 | 2020-06-09 | 中石化石油机械股份有限公司 | Quadruped robot and leg joint structure |
| CN109834700B (en) * | 2019-02-28 | 2022-03-25 | 中国科学院深圳先进技术研究院 | Knee joint support member and exoskeleton robot |
| JP7149208B2 (en) * | 2019-03-14 | 2022-10-06 | 川崎重工業株式会社 | robot joint structure |
| CN110948469B (en) * | 2019-10-29 | 2021-12-03 | 北京机械设备研究所 | Three-degree-of-freedom exoskeleton with four hydraulically-driven connecting rods |
| CN115476336A (en) * | 2021-06-16 | 2022-12-16 | 重庆科达机械有限公司 | Passive exoskeleton |
| CN114800449B (en) * | 2022-04-15 | 2023-07-04 | 电子科技大学 | Upper limb assistance exoskeleton robot with variable assistance moment |
| CN115158508B (en) * | 2022-07-27 | 2023-10-17 | 西交利物浦大学 | Variable-rigidity foot-imitating machine and robot |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101315199B1 (en) * | 2012-04-02 | 2013-10-07 | 서울과학기술대학교 산학협력단 | Walking assistant robots to use passive muscle compensation device |
| CN202776923U (en) * | 2012-10-11 | 2013-03-13 | 厦门大学 | Wearable 7-degree-of-freedom human body power assisting device |
| US9421143B2 (en) * | 2013-03-15 | 2016-08-23 | Bionik Laboratories, Inc. | Strap assembly for use in an exoskeleton apparatus |
| CN105362045B (en) * | 2015-12-25 | 2018-08-14 | 天津正天医疗器械有限公司 | Double leval jib assisted walk device |
| CN105856196A (en) * | 2016-05-19 | 2016-08-17 | 成都润惠科技有限公司 | Assisting device for exoskeleton of knee joint |
| CN105919779B (en) * | 2016-06-21 | 2018-03-09 | 张翔宇 | Semi-automatic bone installations of pulling together |
| KR101666203B1 (en) * | 2016-08-01 | 2016-10-13 | 엘아이지넥스원 주식회사 | Wearable robot |
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- 2017-06-01 CN CN201710404068.XA patent/CN107243886B/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN107243886A (en) | 2017-10-13 |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180410 Termination date: 20190601 |