CN107569362B - Exoskeleton robot and hip joint part thereof - Google Patents
Exoskeleton robot and hip joint part thereof Download PDFInfo
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- CN107569362B CN107569362B CN201710766943.9A CN201710766943A CN107569362B CN 107569362 B CN107569362 B CN 107569362B CN 201710766943 A CN201710766943 A CN 201710766943A CN 107569362 B CN107569362 B CN 107569362B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The invention provides an exoskeleton robot and a hip joint part thereof, wherein the hip joint part comprises a hip joint driving assembly and a hip joint transmission assembly, the hip joint driving assembly comprises a hip joint friction wheel, and the hip joint transmission assembly is in friction connection with the hip joint friction wheel so as to rotate under the friction drive of the hip joint friction wheel. According to the invention, the hip joint driving assembly of the exoskeleton robot comprises the hip joint friction wheel to drive the hip joint transmission assembly in a friction way, so that the joint is driven to move, the hip joint driving assembly is light in size and stable in operation, and the exoskeleton robot is suitable for wearing and convenient to carry.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to an exoskeleton robot and a hip joint part thereof.
Background
At present, regarding the driving modes of joint motion, there are mainly chain driving modes, pneumatic driving modes, hydraulic driving modes and other mechanical driving modes, and one common characteristic of the driving modes is that the driving mechanism is huge in size, not suitable for wearing, not portable, and meanwhile, a plurality of auxiliary personnel are needed for assistance.
Disclosure of Invention
The invention mainly provides an exoskeleton robot and a hip joint part thereof, and aims to solve the problem that a hip joint driving mechanism of the exoskeleton robot is huge in size and inconvenient to wear.
In order to solve the technical problems, the invention adopts a technical scheme that: the hip joint component of the exoskeleton robot comprises a hip joint driving assembly and a hip joint transmission assembly, wherein the hip joint driving assembly comprises a hip joint friction wheel, and the hip joint transmission assembly is in friction connection with the hip joint friction wheel so as to rotate under friction driving of the hip joint friction wheel.
Wherein the hip drive assembly further comprises a hip motor mechanism, the hip joint friction wheel is relatively fixed with the hip joint motor mechanism in the axial direction of the hip joint motor mechanism so as to rotate under the drive of the hip joint motor mechanism.
The hip joint transmission assembly comprises a first hip joint transmission part and a second hip joint transmission part, wherein a hip joint elastic part is arranged between the first hip joint transmission part and one side of the hip joint friction wheel facing the hip joint motor mechanism, the hip joint elastic part generates elastic force in the axial direction, and the second hip joint transmission part is fixedly connected with the first hip joint transmission part at the other side of the hip joint friction wheel so as to be clung to the hip joint friction wheel under the action of the elastic force and further in friction connection with the hip joint friction wheel.
The hip joint elastic piece and one side of the hip joint friction wheel facing the hip joint motor mechanism are provided with a hip joint friction plate and a hip joint steel sheet which are sequentially attached, one end of the hip joint elastic piece is abutted to the first hip joint transmission piece, the other end of the hip joint elastic piece is abutted to the hip joint steel sheet, the hip joint friction plate is tightly attached to the hip joint friction wheel, and the first hip joint transmission piece is in friction connection with the hip joint friction wheel through the hip joint friction plate.
The hip joint motor mechanism comprises a hip joint driving motor and a hip joint supporting seat, wherein the hip joint supporting seat is provided with a through hole, and a driving shaft of the hip joint driving motor penetrates through the through hole from one side of the hip joint supporting seat to be fixedly connected with the hip joint supporting seat.
The hip joint support seat is provided with a first hip joint limiting part, the first hip joint transmission piece is provided with a second hip joint limiting part, and the first hip joint limiting part is matched with the second hip joint limiting part during friction driving so as to limit the rotational freedom degree of the hip joint transmission assembly.
The hip joint driving assembly is further provided with a hip joint speed reducing mechanism, the hip joint speed reducing mechanism comprises an outer wheel and an inner wheel which can rotate relatively, the outer wheel is fixedly connected with the hip joint supporting seat at the other side of the hip joint supporting seat, and the inner wheel is sleeved on the driving shaft of the hip joint driving motor and is fixed relatively with the driving shaft of the hip joint driving motor so as to rotate under the driving of the driving shaft of the hip joint driving motor.
The hip joint driving assembly further comprises a hip joint bearing mechanism, the hip joint bearing mechanism comprises an outer ring and an inner ring which can rotate relatively, the outer ring is fixedly connected with the hip joint supporting seat, and the inner ring is sleeved on a driving shaft of the hip joint driving motor and is fixed relatively with the inner ring so as to rotate along with the rotation of the inner ring.
The hip joint friction wheel is fixed with the inner ring of the hip joint bearing mechanism relatively at one side of the hip joint bearing mechanism away from the hip joint speed reducer mechanism so as to rotate along with the rotation of the inner ring.
In order to solve the technical problems, the invention adopts another technical scheme that: there is provided an exoskeleton robot comprising the hip joint part described above.
The beneficial effects of the invention are as follows: compared with the prior art, the hip joint driving assembly of the exoskeleton robot comprises the hip joint friction wheel to drive the hip joint transmission assembly in a friction manner, so that the joint is driven to move, the hip joint driving assembly is light in size and stable in operation, and the exoskeleton robot is suitable for wearing and convenient to carry.
Drawings
FIG. 1 is an exploded schematic view of an embodiment of a hip joint component of an exoskeleton robot provided by the present invention;
FIG. 2 is an exploded schematic view of the hip motor mechanism of FIG. 1;
FIG. 3 is an exploded view of the hip reduction mechanism, hip bearing mechanism and hip friction wheel of FIG. 1;
FIG. 4 is a schematic sectional view of the assembly of the mechanisms of FIG. 1;
FIG. 5 is an enlarged schematic view of portion A of FIG. 4;
FIG. 6 is an exploded view of the hip drive assembly and the hip friction wheel of FIG. 1;
FIG. 7 is a schematic structural view of an embodiment of an exoskeleton robot provided by the present invention;
FIG. 8 is a schematic view of the thigh support mechanism of FIG. 7;
FIG. 9 is an exploded view of the knee joint component of FIG. 7;
FIG. 10 is an exploded schematic view of the knee motor mechanism of FIG. 9;
FIG. 11 is an exploded view of the knee reduction mechanism, knee bearing mechanism, and knee friction wheel of FIG. 9;
FIG. 12 is a schematic sectional view of the assembly of the mechanisms of FIG. 9;
FIG. 13 is an enlarged schematic view of portion B of FIG. 12;
FIG. 14 is an exploded view of the knee drive assembly and the knee friction wheel of FIG. 9;
FIG. 15 is a schematic view of the structure of the calf support in FIG. 7;
FIG. 16 is an exploded view of the foot supporting member of FIG. 7;
FIG. 17 is a schematic view of the structure of the calf plate member of FIG. 7;
FIG. 18 is a schematic view of the second connector of FIG. 17;
FIG. 19 is a schematic top view of the baffle assembly of FIG. 17 in a buckled state;
FIG. 20 is an exploded schematic view of the lumbar support member of FIG. 7;
FIG. 21 is a schematic block diagram of the control box of FIG. 20 electrically connected to other structures;
FIG. 22 is a schematic view of the exoskeleton robot of FIG. 7 standing on a person;
fig. 23 is a schematic view of the exoskeleton robot of fig. 7 in a sitting position with a person.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the present invention provides an exoskeleton robot and a hip joint part thereof, which are described in further detail below with reference to the accompanying drawings and detailed description.
Referring to fig. 1, an embodiment of a hip joint component 10 provided in the present invention includes a hip joint drive assembly 11 and a hip joint transmission assembly 12.
The hip joint driving assembly 11 includes a hip joint motor mechanism 111, a hip joint speed reducer mechanism 112, a hip joint bearing mechanism 113, and a hip joint friction wheel 114.
Referring to fig. 2, the hip joint motor mechanism 111 includes a hip joint driving motor 111a, a hip joint first connection plate 111b, a hip joint support base 111c, a hip joint spacer 111d, and a hip joint connector 111e.
The hip joint support seat 111c is provided with a through hole 1111, and further, the hip joint support seat 111c is further provided with a first hip joint limiting part 1112, and optionally, the first hip joint limiting part 1112 is a limiting groove, and the number of the first hip joint limiting parts 1112 is two.
Further, the first hip joint connection plate 111b and the hip joint support seat 111c, optionally, the first hip joint connection plate 111b and the hip joint support seat 111c are fixedly connected by bolts; the driving shaft 1113 of the hip joint driving motor 111a passes through the through hole 1111 of the hip joint support base 111c from the side of the hip joint support base 111c near the hip joint first connection plate 111b and is fixedly connected with the hip joint support base 111c, in this embodiment, the hip joint driving motor 111a and the hip joint support base 111c are fixedly connected by flat head bolts from the side of the hip joint support base 111c far from the hip joint first connection plate 111 b; the hip joint isolation plate 111d is sleeved on the driving shaft 1113 of the hip joint driving motor 111a from one side of the hip joint supporting seat 111c away from the hip joint first connecting plate 111b, in this embodiment, the hip joint isolation plate 111d is further covered on a flat head bolt for fixedly connecting the hip joint driving motor 111a and the hip joint supporting seat 111c so as to prevent the flat head bolt from loosening to cause the separation of the hip joint driving motor 111a and the hip joint supporting seat 111c; the hip joint connector 111e is sleeved on the driving shaft 1113 of the hip joint driving motor 111a and is pressed on the hip joint isolation plate 111d, further, the hip joint connector 111e is fixedly connected with the driving shaft 1113 of the hip joint driving motor 111a, so that the hip joint connector 111e rotates under the driving of the driving shaft 1113 of the hip joint driving motor 111a, alternatively, the hip joint connector 111e is an oldham coupling, and is fixedly connected with the driving shaft 1113 of the hip joint driving motor 111a at the oldham coupling through bolts.
Referring collectively to fig. 2 and 3, the hip reducer mechanism 112 includes an outer wheel 112a and an inner wheel 112b, the inner wheel 112b being rotatable relative to the outer wheel 112 a.
Specifically, the outer wheel 112a may be fixedly connected to the hip joint support 111c by bolts, the inner wheel 112b is provided with a slot (not shown in the figure) that mates with the hip joint connector 111e, the inner wheel 112b is sleeved on the driving shaft 1113 of the hip joint driving motor 111a, and the slot of the inner wheel 112b is engaged with the hip joint connector 111e, so that the inner wheel 112b is relatively fixed to the driving shaft 1113 of the hip joint driving motor 111a, and further the inner wheel 112b rotates relative to the outer wheel 112a under the driving of the driving shaft 1113 of the hip joint driving motor 111 a.
Further, the inner wheel 112b of the hip-joint reducer mechanism 112 is provided with a positioning post 1121 on a side thereof remote from the hip-joint connector 111e.
The hip bearing mechanism 113 includes an outer ring 113a and an inner ring 113b, and the inner ring 113b is rotatable relative to the outer ring 113 a.
Specifically, the outer ring 113a is fixedly connected to the hip joint support base 111c on the side of the inner ring 112b of the hip joint reducer mechanism 112 where the positioning column 1121 is provided, and in this embodiment, is fixedly connected to the hip joint support base 111c by bolts on the side surface of the outer ring 113 a; the inner ring 113b is sleeved on the driving shaft 1113 of the hip joint driving motor 111a and is matched with the positioning column 1121 on the inner wheel 112b of the hip joint reducer mechanism 112 in a positioning manner, so that the inner ring 113b is relatively fixed with the inner wheel 112b of the hip joint reducer mechanism 112 in the axial direction of the driving shaft 1113 of the hip joint driving motor 111a, and further rotates along with the rotation of the inner wheel 112b of the hip joint reducer mechanism 112.
The hip joint friction wheel 114 is fixedly connected to the inner ring 113b of the hip joint bearing mechanism 113 on the side of the hip joint bearing mechanism 113 remote from the hip joint reducer mechanism 112.
Specifically, the hip joint friction wheel 114 is in positioning fit with the positioning post 1121 on the inner wheel 112b of the hip joint reducer mechanism 112, so that the hip joint friction wheel 114 and the inner ring 113b of the hip joint bearing mechanism 113 are relatively fixed in the axial direction of the driving shaft 1113 of the hip joint driving motor 111a, and further the inner ring 113b of the hip joint bearing mechanism 113 of the hip joint friction wheel 114 can be fixedly connected by bolts, so that the hip joint friction wheel 114 rotates following the rotation of the inner ring 113b of the hip joint bearing mechanism 113.
Further, the hip joint friction wheel 114 is further provided with a first hip joint buffer 1141, and the first hip joint buffer 1141 is an optional tooth disposed at an outer side of the hip joint friction wheel 114.
With further reference to fig. 1, the hip drive assembly 11 further includes a hip motor shield 115, and the hip motor shield 115 is disposed over the hip drive motor 111a to protect the hip drive motor 111 a.
The hip drive assembly 12 is coupled to the hip drive assembly 11 for rotation by the ankle drive assembly 11.
Specifically, the hip drive assembly 12 is frictionally coupled to the hip friction wheel 114 for rotation under the frictional drive of the hip friction wheel 114.
Referring to fig. 4 and 5 together, the hip joint transmission assembly 12 includes a first hip joint transmission member 121 and a second hip joint transmission member 122, wherein a hip joint elastic member 123 is disposed between the first hip joint transmission member 121 and one side of the first hip joint transmission member 114 facing the hip joint motor mechanism 111, the hip joint elastic member 123 generates elastic force in the axial direction of the hip joint motor mechanism 111, and the second hip joint transmission member 122 is fixedly connected with the first hip joint transmission member 121 through a bolt on the other side of the first hip joint transmission member 114, so that the second hip joint transmission member 122 is tightly attached to the first hip joint transmission member 114 under the elastic force, and is further in frictional connection with the first hip joint transmission member 114, so that the second hip joint transmission member 122 is frictionally driven when the first hip joint transmission member 114 rotates.
Further, a hip joint friction plate 124 and a hip joint steel sheet 125 which are sequentially attached are further provided between the hip joint elastic member 123 and one side of the hip joint friction wheel 114 facing the hip joint motor mechanism 111, one end of the hip joint elastic member 123 is abutted against the first hip joint transmission member 121, and the other end is abutted against the hip joint steel sheet 125, so that the hip joint friction plate 124 is tightly attached to the hip joint friction wheel 114, and further the first hip joint transmission member 121 is connected with the hip joint friction wheel membranous layer through the hip joint friction plate 124, so that when the hip joint friction wheel 114 rotates, the hip joint friction plate 124 is driven by friction, and the first hip joint transmission member 121 is driven by friction of the hip joint friction plate 124.
Alternatively, the hip joint elastic 123 is a cylindrical spring.
Referring to fig. 6, the first hip joint transmission member 121 is provided with a second hip joint limiting part 1211, and when the hip joint transmission assembly 12 is driven to rotate by friction of the above-mentioned hip joint friction wheel 114, the second hip joint limiting part 1211 cooperates with the first hip joint limiting part 1112 to limit the rotational freedom of the hip joint transmission assembly 12.
Optionally, the second hip joint limiting part 1211 is a limiting post that cooperates with a limiting groove of the first hip joint limiting part 1112, and the rotational degree of freedom may be set according to actual needs, which is not limited herein.
Further, the second hip-joint transmission member 122 is provided with a second hip-joint buffer portion 1221, and when the second hip-joint friction wheel 114 is tightly attached to the second hip-joint transmission member 122, the second hip-joint buffer portion 1221 is disposed in a gap with the first hip-joint buffer portion 1141 of the second hip-joint friction wheel 114, so as to play a role in buffering when a speed mutation is encountered in the process of friction driving the hip-joint transmission assembly 12 to rotate by the second hip-joint friction wheel 114.
With further reference to fig. 1, the hip joint part 10 further comprises a hip joint second connecting plate 13, the hip joint second connecting plate 13 is fixedly connected with the hip joint first connecting plate 111b through bolts, wherein a hanging plate 131 is arranged on the hip joint second connecting plate 13.
Referring to fig. 7, an exoskeleton robot embodiment of the present invention includes the hip joint part 10 described above, and further includes a thigh support part 20, a knee joint part 30, a shank support part 40, and a foot support part 50.
One end of the thigh support part 20 is connected with the hip drive assembly 12 to swing following the rotation of the hip drive assembly 12.
Referring to fig. 8, the thigh support part 20 includes a thigh support plate 21 and a thigh bandage device 22, one end of the thigh support plate 21 is fixedly connected with the knee joint second transmission part 122 through bolts to swing along with rotation of the knee joint second transmission part 122, and the thigh bandage device 22 is fixedly disposed on the thigh support plate 21 through bolts for connecting thigh bandages to fix the thigh.
Referring collectively to fig. 7 and 9, a knee joint member 30 is coupled to the other end of the thigh support mechanism 20 and includes a knee joint drive assembly 31 and a knee joint transmission assembly 32.
The knee joint driving unit 31 includes a knee joint motor mechanism 311, a knee joint speed reducer mechanism 312, a knee joint bearing mechanism 313, and a knee joint friction wheel 314.
Referring to fig. 10, the knee motor mechanism 311 includes a knee driving motor 311a, a knee first connection plate 311b, a knee support base 311c, a knee spacer plate 311d, and a knee connector 311e.
Wherein, the knee joint supporting seat 311c is provided with a through hole 3111, further, the knee joint supporting seat 311c is further provided with a first knee joint limiting portion 3112, and optionally, the first knee joint limiting portion 3112 is a limiting slot, and the number is two.
Further, the first knee joint connecting plate 311b is fixedly connected with the knee joint supporting seat 311c, and optionally, the first knee joint connecting plate 311b is fixedly connected with the knee joint supporting seat 311c through bolts; the driving shaft 3113 of the knee joint driving motor 311a passes through the through hole 3111 of the knee joint supporting seat 311c from a side of the knee joint supporting seat 311c close to the knee joint first connecting plate 311b, and is fixedly connected with the knee joint supporting seat 311c, in this embodiment, the knee joint driving motor 311a and the knee joint supporting seat 311c are fixedly connected by a flat head bolt from a side of the knee joint supporting seat 311c away from the knee joint first connecting plate 311 b; the knee joint isolation plate 311d is sleeved on the driving shaft 3113 of the knee joint driving motor 311a from one side of the knee joint supporting seat 311c away from the knee joint first connecting plate 311b, in this embodiment, the knee joint isolation plate 311d is further sleeved on a flat head bolt for fixedly connecting the knee joint driving motor 311a and the knee joint supporting seat 311c, so as to prevent the flat head bolt from loosening to cause the knee joint driving motor 311a to be separated from the knee joint supporting seat 311c; the knee joint connector 311e is sleeved on the driving shaft 3113 of the knee joint driving motor 311a and is pressed on the knee joint isolation plate 311d, further, the knee joint connector 311e is fixedly connected with the driving shaft 3113 of the knee joint driving motor 311a, so that the knee joint connector 311e rotates under the driving of the driving shaft 3113 of the knee joint driving motor 311a, alternatively, the knee joint connector 311e is an oldham coupling, and is fixedly connected with the driving shaft 3113 of the knee joint driving motor 311a at the oldham coupling through bolts.
Referring collectively to fig. 10 and 11, the knee reducer mechanism 312 includes an outer wheel 312a and an inner wheel 312b, the inner wheel 312b being rotatable relative to the outer wheel 312 a.
Specifically, the outer wheel 312a may be fixedly connected to the knee joint support seat 311c by a bolt, the inner wheel 312b is provided with a slot (not shown in the figure) that mates with the knee joint connector 311e, the inner wheel 312b is sleeved on the driving shaft 3113 of the knee joint driving motor 311a, and the slot of the inner wheel 312b is engaged with the knee joint connector 311e, so that the inner wheel 312b is relatively fixed to the driving shaft 3113 of the knee joint driving motor 311a, and further the inner wheel 312b rotates relative to the outer wheel 312a under the driving of the driving shaft 3113 of the knee joint driving motor 311 a.
Further, the inner wheel 312b of the knee-joint reducer mechanism 312 is provided with a positioning post 3121 on a side remote from the knee-joint connector 311e.
The knee joint bearing mechanism 313 includes an outer ring 313a and an inner ring 313b, and the inner ring 313b is rotatable relative to the outer ring 313 a.
Specifically, the outer ring 313a is fixedly connected to the knee joint support seat 311c on the side of the inner wheel 312b of the knee joint reducer mechanism 312 where the positioning column 3121 is provided, and in this embodiment, is fixedly connected to the knee joint support seat 311c by bolts on the side surface of the outer ring 313 a; the inner ring 313b is sleeved on the driving shaft 3113 of the knee joint driving motor 311a and is matched with the positioning column 3121 on the inner wheel 312b of the knee joint speed reducer mechanism 312 in a positioning manner, so that the inner ring 313b is relatively fixed with the inner wheel 312b of the knee joint speed reducer mechanism 312 in the axial direction of the driving shaft 3113 of the knee joint driving motor 311a, and further rotates along with the rotation of the inner wheel 312b of the knee joint speed reducer mechanism 312.
The knee friction wheel 314 is fixedly connected to the inner ring 113b of the knee bearing mechanism 313 on a side of the knee bearing mechanism 313 remote from the knee reducer mechanism 312.
Specifically, the knee friction wheel 314 is in positioning engagement with the positioning post 3121 on the inner wheel 312b of the knee reduction gear mechanism 312 such that the knee friction wheel 314 and the inner wheel 313b of the knee bearing mechanism 313 are relatively fixed in the axial direction of the drive shaft 3113 of the knee drive motor 311a, and further the inner wheel 313b of the knee bearing mechanism 313 of the knee friction wheel 314 can be fixedly connected by a bolt such that the knee friction wheel 314 rotates following the rotation of the inner wheel 313b of the knee bearing mechanism 313.
Further, the knee friction wheel 314 is further provided with a knee first buffer portion 3141, and optionally, the knee first buffer portion 3141 is a tooth disposed on an outer side of the knee friction wheel 314.
With further reference to fig. 9, the knee joint driving assembly 31 further includes a knee motor shield 315, the knee motor shield 315 being configured to shield the knee joint driving motor 311a to protect the knee joint driving motor 311 a.
The knee joint transmission assembly 32 is linked with the knee joint driving assembly 31 to rotate under the driving of the ankle joint driving assembly 31.
Specifically, knee drive assembly 32 is frictionally coupled to knee friction wheel 314 for rotation under the friction drive of knee friction wheel 314.
Referring to fig. 12 and 13 together, the knee joint transmission assembly 32 includes a knee joint first transmission member 321 and a knee joint second transmission member 322, wherein a knee joint elastic member 323 is disposed between the knee joint first transmission member 321 and one side of the knee joint friction wheel 314 facing the knee joint motor mechanism 311, the knee joint elastic member 323 generates elastic force in the axial direction of the knee joint motor mechanism 311, and the knee joint second transmission member 322 is fixedly connected with the knee joint first transmission member 321 through a bolt on the other side of the knee joint friction wheel 314, so that the knee joint second transmission member 322 is tightly attached to the knee joint friction wheel 314 under the action of the elastic force, and is further in friction connection with the knee joint friction wheel 314, so that the knee joint friction wheel 314 drives the knee joint second transmission member 322 in a friction manner when rotating.
Further, a knee joint friction plate 324 and a knee joint steel sheet 325 which are sequentially attached are further disposed between the knee joint elastic member 323 and one side of the knee joint friction wheel 314 facing the knee joint motor mechanism 311, one end of the knee joint elastic member 323 is abutted against the knee joint first transmission member 321, and the other end is abutted against the knee joint steel sheet 325, so that the knee joint friction plate 124 is abutted against the knee joint friction wheel 314, and further the knee joint first transmission member 321 is connected with the knee joint friction wheel film layer through the knee joint friction plate 324, so that the knee joint friction plate 324 is driven by friction when the knee joint friction wheel 314 rotates, and the knee joint first transmission member 321 is driven by friction of the knee joint friction plate 324.
Alternatively, the knee elastic member 323 is a cylindrical spring.
Referring to fig. 14, the first knee joint driving member 321 is provided with a second knee joint limiting portion 3211, and when the knee joint driving assembly 32 is driven to rotate by friction of the above-mentioned knee joint friction wheel 314, the second knee joint limiting portion 3211 cooperates with the first knee joint limiting portion 3112 to limit the rotational freedom of the knee joint driving assembly 32.
Optionally, the knee joint second limiting portion 3211 is a limiting post that is matched with a limiting groove of the knee joint first limiting portion 3112, and the rotational degree of freedom may be set according to actual needs, which is not limited herein.
Further, the knee joint second transmission member 322 is provided with a knee joint second buffer portion 3221, and when the knee joint friction wheel 314 is tightly attached to the knee joint second transmission member 322, the knee joint second buffer portion 3221 is disposed in a gap with the knee joint first buffer portion 3141 of the knee joint friction wheel 314, so as to play a role in buffering when a speed mutation is encountered in the process of friction driving the knee joint transmission assembly 32 to rotate through the above knee joint friction wheel 314.
In other embodiments, other driving modes, such as hydraulic driving or link driving, may be used in the knee joint part 30 of the present embodiment.
The calf support member 40 is connected with the knee joint drive assembly 32 to swing following rotation of the knee joint drive assembly 32.
Referring to fig. 15, the calf support member 40 includes a calf first support plate 41 and a calf second support plate 42 connected end to end, one end of the calf first support plate 41 is fixedly connected with the knee joint second transmission member 322 of the knee joint transmission assembly 32 by bolts to swing following rotation of the knee joint second transmission member 322, and the other end is fixedly connected with the calf second support plate 42 by bolts.
Referring to fig. 7 and 16 together, the foot support member 50 is coupled to the calf support mechanism 40 to move in response to the swing of the calf support mechanism 40, and includes a resilient cushioning element 51 and a foot supporting assembly 52.
Optionally, the elastic buffer 51 is a strip wound.
The elastic buffer 51 includes an ankle matching portion 511 and a supporting portion 512, and the ankle matching portion 511 and the supporting portion 512 are obliquely bent and connected to generate a first elastic force opposite to the bending direction of the ankle matching portion 511.
In this embodiment, the ankle joint matching portion 511 is in the form of a torsion spring.
Further, the number of the supporting parts 512 is two, the elastic buffer member 51 further includes an achilles tendon matching part 513, and two ends of the achilles tendon matching part 513 are respectively connected with the two supporting parts 512 in an inclined bending manner, so as to wrap the achilles tendon of the foot of the human body and generate a second elastic force opposite to the bending direction of the achilles tendon matching part 513.
Optionally, the two support portions 512 are parallel to each other or splayed.
Further, the elastic buffer 51 further includes a first connection portion 514 connected to the ankle joint matching portion 511, the first connection portion 514 being used to connect other components of the exoskeleton robot, and in the present embodiment, the first connection portion 514 is connected to the lower leg second support plate 42 of the exoskeleton robot through the connection sleeve 53.
The first connecting portion 514 is in a hook shape, and the first connecting portion 514 in a hook shape is fixedly connected with the connecting sleeve 53 through a bolt, so that the first connecting portion 514 can be prevented from rotating or sliding in the connecting sleeve 53, and structural stability is enhanced.
Further, the elastic buffer 51 further includes a second connection portion 515, and the second connection portion 515 is vertically connected to the support portion 512.
Further, the elastic buffer 51 is provided with a first bandage 516, and two ends of the first bandage 516 are connected to the elastic buffer 51 to wrap the rear foot of the human foot with the elastic buffer 51.
In this embodiment, the first bandage 516 is connected to the elastic buffer member 51 through a bandage board 517, one end of the bandage board 517 is fixedly connected to the elastic buffer member 51, the other end is connected to one end of the first bandage 516, and the other end of the first bandage 516 is connected to the elastic buffer member 51.
The foot supporting component 52 is connected with the elastic buffer piece 51 for jointly wrapping the human foot.
Specifically, the foot supporting component 52 includes a bottom plate 521, a second bandage 522 is disposed on the bottom plate 521, two ends of the second bandage 522 are connected to the bottom plate 521 to wrap the front foot of the human foot together with the bottom plate 521, and the elastic buffer member 51 and the first bandage 516 are combined to wrap the rear foot of the human foot together, thereby wrapping the human foot.
The bottom plate 521 is fixed relative to the second connecting portion 516 of the elastic buffer 51 for carrying the foot, and in this embodiment, the bottom plate 521 is fixedly connected to the second connecting portion 516 through a bottom plate connecting plate 523.
Specifically, the number of the bottom plate connecting plates 523 is two, the two bottom plate connecting plates 523 clamp the first connecting portion 516 and the supporting portion 512 together and are fixedly connected through bolts, so that the bottom plate connecting plates 523 and the second connecting portion 516 are relatively fixed, and then the bottom plate 521 and the bottom plate connecting plates 523 are fixedly connected through bolts.
The bottom plate 521 may be in a shape matching with the shape of the sole of the human body so as to better fit with the foot of the human body, and meanwhile, the front end of the bottom plate 521 may be inclined so as to better support the foot of the human body when the foot of the human body walks.
Further, the side of the bottom plate 521 remote from the second bandage 522 is further provided with a pad 524, which pad 524 is used to increase the friction with the ground when in contact with the ground.
Alternatively, the material of the pad 524 is a rubber material.
Further, when the elastic buffer member 51 and the foot supporting component 52 are used for wrapping the human foot together, the elastic buffer member 51 is matched with the human foot so as to elastically buffer the human foot when the human foot performs a landing action.
Specifically, when wrapping the human foot, the ankle joint matching part 511 matches with the ankle joint of the human foot, and elastically buffers the ankle joint by the first elastic force as described above; the achilles tendon matching part 513 is matched with the achilles tendon of the human foot, and elastically buffers the achilles tendon by the second elastic force under the action of the second elastic force, so that the achilles tendon plays a role of buffering and damping when the human foot performs the landing action.
Further, since the ankle joint matching part 511 is in the shape of a torsion spring in the present embodiment, when it is matched with the ankle joint, it is also possible to elastically cushion the ankle joint in a direction perpendicular to the ankle joint, avoiding severe impact of the ankle joint in the direction, and being advantageous in protecting the ankle joint.
With further reference to fig. 7, the present embodiment of the exoskeleton robot further comprises a calf plate member 60 and a lumbar support member 70.
Referring to fig. 17, the calf plate 60 includes a mount 61, a plate assembly 62 and a linkage 63.
The holder 61 is used to connect other parts of the exoskeleton robot in this embodiment, in which the holder 61 is connected to the first support plate 42 for connecting the lower leg.
The fixing base 61 is provided with a positioning groove 611, and the fixing base 61 and the first supporting plate 62 of the lower leg can be fixedly connected through bolts passing through the positioning groove 611, and the connection position can be adjusted in the length direction of the positioning groove 611.
The baffle assembly 62 is pivotally connected to the fixing base 61, so as to be in an opened and buckled state relative to the fixing base 61.
Specifically, the baffle assembly 62 includes a shank bandage arm 621 and a shank baffle 622, the shank bandage arm 621 is pivoted with the fixing base 61, so that the shank bandage arm 621 can rotate relative to the fixing base 61, optionally, the shank bandage arm 621 and the fixing base can be connected in series by a cylindrical pin, and then split rings are mounted at two ends of the cylindrical pin; the shank baffle 622 is connected with the shank bandage arm 621 for fitting with a human shank, and in the fitting process, the shank baffle 622 follows the rotation of the shank bandage arm 621 to be close to the human shank so as to be in a buckled state when fitting with the human shank and to be in an opened state when separating from the human shank.
Wherein the shank baffle 622 is rotatably connected to the shank bandage arm 621 to rotate relative to the shank bandage arm 621 following the movement of the human shank when fitted thereto.
Specifically, the baffle assembly 62 further includes a first connecting member 623 and a second connecting member 624, the first connecting member 623 is fixedly connected to the lower leg baffle 622 and disposed in an arc shape therebetween, referring to fig. 18, the second connecting member 624 includes a light shaft portion 6241, the second connecting member 624 passes through the first connecting member 623 to be connected to the lower leg bandage arm 621, and the arc-disposed portion is fitted to the light shaft portion 6241, so that the first connecting member 623 can rotate relative to the light shaft portion 6241, so that the lower leg baffle 622 can rotate relative to the lower leg bandage arm 621,
further, the lower leg shield 622 is removably attached to the lower leg bandage arm 621.
Specifically, the second connecting member 624 further includes a threaded portion 6242, and when the second connecting member 624 is connected to the shank-bandage arm 621 through the first connecting member 623, the second connecting member 624 is screwed to the shank-bandage arm 621 by the threaded portion 6242, so that the second connecting member 624 is detachably connected to the shank-bandage arm 621, and further, the shank-baffle 622 is detachably connected to the shank-bandage arm 621.
Optionally, the lower leg baffle 622 is arc-shaped, and the size of the upper end is larger than that of the lower end, so that the shape of the lower leg baffle 622 can be matched with that of the lower leg of the human body, so as to be suitable for wearing, and further, the lower leg baffle 622 is made of flexible material and has elasticity, so that the lower leg of the human body is flexibly attached to the lower leg of the human body when being attached, comfort is improved, and abrasion injury to the lower leg of the human body when being rigidly attached is avoided; the shank bandage arm 621 is arc-shaped, can be anastomotic with the shape of the human shank, and gradually becomes larger in size in the extending direction away from the shank baffle 622, can save materials, reduce cost, and lighten the overall weight.
Further, a calf bandage 6221 is provided on the calf plate 622 to bind the human calf when fitting the human calf.
The rod mechanism 63 includes a first rod 631 and a second rod 632 pivotally connected at first positions, and the first rod 631 and the second rod 632 are respectively pivotally connected to the fixing seat 61 and the baffle assembly 62 to follow the baffle assembly 62.
When the shutter assembly 62 is in a locked state relative to the fixing base 61, the first rod 631 and the second rod 632 are disposed in a straight line relative to the pivot center 6311 of the first rod 631 and the second rod 632, so as to lock the shutter assembly 62.
Referring to fig. 19, when the baffle assembly 62 is in a buckled state relative to the fixed seat 61, since the first rod body 631 and the second rod body 632 are linearly arranged relative to the pivot center 6311 of the first rod body 631 and the second rod body 632, if the baffle assembly 62 needs to be separated from the buckled state, the baffle assembly 62 needs to be rotated in the arrow direction in the drawing, at this time, the linearly arranged first rod body 631 and the linearly arranged second rod body 632 simultaneously support the shank bandage arm 621 and the fixed seat 61 in the direction, so that the baffle assembly 62 cannot rotate in the direction, and the baffle assembly 62 is locked.
Further, when the shutter assembly 62 is opened relative to the fixing base 61, the first rod 631 and the second rod 632 are disposed at an angle relative to the pivot center 6311 of the first rod 631 and the second rod 632.
Optionally, the link assembly 63 further includes a third rod 633, where the third rod 633 is connected to the first rod 631 or the second rod 632, so as to push the first rod 631 or the second rod 632 under the action of an external force, so that the first rod 631 or the second rod 632 is changed from a straight setting to an included angle setting.
In this embodiment, the third rod body 633 is connected to the first rod body 631, when the first rod body 631 and the second rod body 632 are in the above-mentioned linear arrangement, only an external force needs to be manually applied to the third rod body 633, so that the first rod body 631 rotates relative to the fixing seat 61, and the first rod body 631 and the second rod body 632 can be changed from the linear arrangement to the included angle arrangement, at this time, the baffle assembly 62 can be in the non-locking state, and then be changed from the fastening state to the opening state.
Optionally, the third rod 633 is disposed at an angle with respect to the first rod 631 or the second rod 632.
Referring collectively to fig. 7 and 20, the lumbar support member 70 is coupled to the hip joint member 10 for fitting the lumbar region of a human body to support the lumbar region of the human body, and includes a lumbar first support plate 71, a lumbar first support plate 72, a lumbar second support plate 73, and a lumbar second support plate 74.
One end of the waist first connecting piece 71 is connected with the hip joint second connecting plate 13, the number of the waist first connecting pieces is two, and the waist first connecting pieces are hollowed out, so that materials can be saved, cost can be reduced, and the structure is light.
Wherein, the first waist connecting piece 71 is arranged in a bending way.
The waist first support plate 72 is connected with the other end of the waist first connecting piece 71 and is in a hollowed-out arrangement, so that materials can be saved, the cost can be reduced, and the structure can be lightened.
Wherein, the shape of the waist first supporting plate 72 is matched with the shape of the waist of the human body, so as to be attached to the waist of a human body.
One end of the lumbar second link 73 is connected to the lumbar first support plate 72.
The waist second backup pad 74 is connected with the other end of waist second connecting piece 73, and is the fretwork setting, can save material, reduce cost, realizes the light and handy of structure.
Further, the lumbar support member 70 in this embodiment further includes a control box 75, and the control box 75 is connected to the lumbar second support plate 74.
Referring to fig. 21, the control box 75 includes a power supply 751 and a controller 752 electrically connected to the hip joint driving motor 111a and the knee joint driving motor 311a, and the controller 752 is electrically connected to control the operation states of the hip joint driving motor 111a and the knee joint driving motor 311 a.
Referring to fig. 22 and 23 together, in a practical application scenario, the exoskeleton robot embodiment of the present embodiment is supported on the human body 80 so that the human body can maintain a standing state as shown in fig. 22, and when other states need to be present, the driving components in the hip joint component 10 and/or the knee joint component 30 drive the transmission components through friction wheels to drive the hip joint and the knee joint of the human body 80 to move, so that the sitting state as shown in fig. 23 can be presented, however, only the above two states are described in the present embodiment, and in other embodiments, the exoskeleton robot can also cause the human body 80 to present other states, such as a walking state.
Compared with the prior art, the hip joint driving assembly of the exoskeleton robot comprises the hip joint friction wheel to drive the hip joint transmission assembly in a friction manner so as to drive the joint to move, so that the hip joint driving assembly is light in size and stable in operation, and the exoskeleton robot is suitable for wearing and convenient to carry.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.
Claims (6)
1. The hip joint component of the exoskeleton robot is characterized by comprising a hip joint driving assembly and a hip joint transmission assembly, wherein the hip joint driving assembly comprises a hip joint friction wheel, and the hip joint transmission assembly is in friction connection with the hip joint friction wheel so as to rotate under the friction drive of the hip joint friction wheel;
the hip joint driving assembly further comprises a hip joint motor mechanism, and the hip joint friction wheel is relatively fixed with the hip joint motor mechanism in the axial direction of the hip joint motor mechanism so as to rotate under the driving of the hip joint motor mechanism;
the hip joint transmission assembly comprises a first hip joint transmission part and a second hip joint transmission part, a hip joint elastic part is arranged between the first hip joint transmission part and one side of the hip joint friction wheel facing the hip joint motor mechanism, the hip joint elastic part generates elastic force in the axial direction, and the second hip joint transmission part is fixedly connected with the first hip joint transmission part at the other side of the hip joint friction wheel so as to be clung to the hip joint friction wheel under the action of the elastic force and further in friction connection with the hip joint friction wheel;
a hip joint friction plate and a hip joint steel sheet which are sequentially attached are arranged between the hip joint elastic piece and one side of the hip joint friction wheel facing the hip joint motor mechanism, one end of the hip joint elastic piece is abutted against the first hip joint transmission piece, and the other end of the hip joint elastic piece is abutted against the hip joint steel sheet, so that the hip joint friction plate is tightly attached to the hip joint friction wheel, and the first hip joint transmission piece is in friction connection with the hip joint friction wheel through the hip joint friction plate;
the hip joint motor mechanism comprises a hip joint driving motor and a hip joint supporting seat, wherein the hip joint supporting seat is provided with a through hole, and a driving shaft of the hip joint driving motor penetrates through the through hole from one side of the hip joint supporting seat and is fixedly connected with the hip joint supporting seat.
2. The hip joint component according to claim 1, wherein the hip joint support is provided with a first hip joint limiting part, the first hip joint transmission member is provided with a second hip joint limiting part, and the first hip joint limiting part cooperates with the second hip joint limiting part to limit the rotational freedom of the hip joint transmission assembly during the friction driving.
3. The hip joint component according to claim 2, wherein the hip joint driving assembly further comprises a hip joint speed reducing mechanism, the hip joint speed reducing mechanism comprises an outer wheel and an inner wheel which can rotate relatively, the outer wheel is fixedly connected with the hip joint supporting seat at the other side of the hip joint supporting seat, and the inner wheel is sleeved on the driving shaft of the hip joint driving motor and is fixed relatively to the driving shaft of the hip joint driving motor so as to rotate under the driving of the driving shaft of the hip joint driving motor.
4. The hip joint component according to claim 3, wherein the hip joint driving assembly further comprises a hip joint bearing mechanism, the hip joint bearing mechanism comprises an outer ring and an inner ring which can rotate relatively, the outer ring is fixedly connected with the hip joint supporting seat, and the inner ring is sleeved on a driving shaft of the hip joint driving motor and is fixed relatively with the inner ring so as to rotate along with the rotation of the inner ring.
5. The hip joint component according to claim 4, wherein the hip friction wheel is fixed relative to the inner race of the hip joint bearing mechanism on a side of the hip joint bearing mechanism remote from the hip joint reducer mechanism to follow rotation of the inner race.
6. An exoskeleton robot comprising the hip joint member of any one of claims 1 to 5.
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| CN201710766943.9A CN107569362B (en) | 2017-08-29 | 2017-08-29 | Exoskeleton robot and hip joint part thereof |
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| CN201710766943.9A CN107569362B (en) | 2017-08-29 | 2017-08-29 | Exoskeleton robot and hip joint part thereof |
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| CN107569362B true CN107569362B (en) | 2023-07-07 |
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| CN110385693B (en) * | 2018-04-23 | 2020-10-02 | 深圳市肯綮科技有限公司 | Compact power joint mechanism and portable lower limb power assisting equipment thereof |
| CN109895064B (en) * | 2019-02-28 | 2022-04-19 | 中国科学院深圳先进技术研究院 | Exoskeleton robot |
| CN114209541A (en) * | 2021-10-28 | 2022-03-22 | 中国科学院深圳先进技术研究院 | Walking assisting exoskeleton device |
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| US7393335B2 (en) * | 2004-05-06 | 2008-07-01 | Carvey Matthew R | Metabolically efficient leg brace |
| CN102327173B (en) * | 2011-09-29 | 2013-05-22 | 上海交通大学 | Wearable exoskeleton lower limb rehabilitation robot |
| TWI556809B (en) * | 2014-03-27 | 2016-11-11 | 財團法人工業技術研究院 | Walking assist device |
| CN104434472B (en) * | 2014-12-03 | 2016-08-03 | 哈尔滨工程大学 | A kind of ectoskeleton supplemental training robot |
| FR3046053B1 (en) * | 2015-12-24 | 2017-12-22 | Sagem Defense Securite | FOOT MODULE FOR AN EXOSQUELET STRUCTURE |
| CN209092051U (en) * | 2017-08-29 | 2019-07-12 | 中国科学院深圳先进技术研究院 | A kind of exoskeleton robot and its hip joint components |
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