CN107595556B - Exoskeleton robot and lower leg baffle component thereof - Google Patents
Exoskeleton robot and lower leg baffle component thereof Download PDFInfo
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- CN107595556B CN107595556B CN201710760025.5A CN201710760025A CN107595556B CN 107595556 B CN107595556 B CN 107595556B CN 201710760025 A CN201710760025 A CN 201710760025A CN 107595556 B CN107595556 B CN 107595556B
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- hip joint
- rod body
- shank
- rod
- knee
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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 lower leg baffle component thereof. According to the invention, when the baffle plate assembly of the lower leg baffle plate component is buckled relative to the fixed seat, the first rod body and the second rod body of the connecting rod mechanism are arranged in a straight line relative to the pivot centers of the first rod body and the second rod body, so that the baffle plate assembly is locked, and when the baffle plate assembly is buckled with the lower leg of a human body, the condition that the baffle plate assembly and the lower leg of the human body fall off is reduced or even avoided, and the convenience and the safety of use are improved.
Description
Technical Field
The invention relates to the field of medical equipment, in particular to an exoskeleton robot and a lower leg baffle component thereof.
Background
As wearable equipment, the shank baffle component of the exoskeleton robot is generally bound to the shank through a bandage when interacting with the shank, but the flexible bandage can fall off in the walking process of a human body, and at the moment, the shank baffle component can fall off from the shank.
Disclosure of Invention
The invention mainly provides an exoskeleton robot and a shank baffle component thereof, and aims to solve the problem that the shank baffle component is easy to fall off from the shank of a human body.
In order to solve the technical problems, the invention adopts a technical scheme that: providing a shank barrier member of an exoskeleton robot, the shank barrier member comprising a fixed seat; the baffle plate assembly is pivoted to the fixed seat so as to be in an opened and buckled state relative to the fixed seat; the connecting rod mechanism comprises a first rod body and a second rod body which are pivoted at the first position, and the first rod body and the second rod body are respectively pivoted on the fixing seat and the baffle assembly so as to follow the baffle assembly; when the baffle assembly is in an open state relative to the fixed seat, the first rod body and the second rod body are arranged at an included angle relative to the pivot centers of the first rod body and the second rod body; when the baffle assembly is in a buckling state relative to the fixed seat, the first rod body and the second rod body are arranged in a straight line relative to the pivot centers of the first rod body and the second rod body so as to lock the baffle assembly.
The connecting rod mechanism further comprises a third rod body, wherein the third rod body is connected with the first rod body or the second rod body, and is used for pushing the first rod body or the second rod body under the action of external force, so that the first rod body and the second rod body are changed from the straight line setting to the included angle setting.
Wherein, its characterized in that, the third body of rod with first body of rod or the second body of rod is the contained angle setting.
The baffle assembly comprises a shank bandage arm and a shank baffle, wherein the shank baffle is connected with the shank bandage arm and is used for fitting human shanks.
The shank baffle is rotatably connected with the shank bandage arm so as to follow the movement of the shank of the human body to rotate relative to the shank bandage arm when being attached to the shank of the human body.
Wherein, the shank baffle with shank bandage arm can dismantle the connection.
The shank baffle is provided with a shank bandage, so that the shank is bound when the shank baffle is attached to the shank of a human body.
Wherein, shank bandage arm is the arc setting, and keep away from the size grow gradually in the extending direction of shank baffle.
And the fixing seat is provided with a positioning groove for connecting other parts of the exoskeleton robot and adjusting the connecting position in the length direction of the positioning groove.
In order to solve the technical problems, the invention adopts another technical scheme that: there is provided an exoskeleton robot comprising the above-described calf baffle.
The beneficial effects of the invention are as follows: compared with the prior art, the baffle assembly of the lower leg baffle component is buckled relative to the fixed seat, and the first rod body and the second rod body of the connecting rod mechanism are arranged in a straight line relative to the pivot centers of the first rod body and the second rod body, so that the baffle assembly is locked, the condition that the baffle assembly and the lower leg of a human body fall off when the baffle assembly is buckled with the lower leg of the human body is reduced or even avoided, and the use convenience and the safety are improved.
Drawings
FIG. 1 is a schematic view of a configuration of an embodiment of a lower leg shield assembly of an exoskeleton robot provided in accordance with the present invention;
FIG. 2 is a schematic view of the second connector of FIG. 1;
FIG. 3 is a schematic top view of the baffle assembly of FIG. 1 in a buckled state;
FIG. 4 is a schematic structural view of an embodiment of an exoskeleton robot provided by the present invention;
FIG. 5 is an exploded view of the hip joint component of FIG. 4;
FIG. 6 is an exploded schematic view of the hip motor mechanism of FIG. 5;
FIG. 7 is an exploded view of the hip reduction mechanism, hip bearing mechanism and hip friction wheel of FIG. 5;
FIG. 8 is a schematic sectional view of the assembly of the mechanisms of FIG. 5;
FIG. 9 is an enlarged schematic view of portion A of FIG. 8;
FIG. 10 is an exploded view of the hip drive assembly and the hip friction wheel of FIG. 5;
FIG. 11 is a schematic view of the thigh support mechanism of FIG. 4;
FIG. 12 is an exploded view of the knee joint component of FIG. 4;
FIG. 13 is an exploded view of the knee motor mechanism of FIG. 12;
FIG. 14 is an exploded view of the knee reduction mechanism, knee bearing mechanism, and knee friction wheel of FIG. 12;
FIG. 15 is a schematic sectional view of the assembly of the mechanisms of FIG. 12;
FIG. 16 is an enlarged schematic view of portion B of FIG. 15;
FIG. 17 is an exploded view of the knee drive assembly and the knee friction wheel of FIG. 12;
FIG. 18 is a schematic view of the structure of the calf support in FIG. 4;
FIG. 19 is an exploded view of the foot supporting member of FIG. 4;
FIG. 20 is an exploded schematic view of the lumbar support member of FIG. 4;
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. 4 standing on a person;
fig. 23 is a schematic view of the exoskeleton robot of fig. 4 in a sitting position with a person.
Detailed Description
In order to make the technical scheme of the present invention better understood by those skilled in the art, the exoskeleton robot and the lower leg baffle members thereof provided by the present invention are described in further detail below with reference to the accompanying drawings and detailed description.
Referring to fig. 1, an embodiment of a calf plate 10 according to the present invention includes a fixed base 11, a plate assembly 12, and a linkage 13.
The holder 11 is used for connecting other parts of the exoskeleton robot in this embodiment.
Wherein, the fixing seat 11 is provided with a positioning groove 111, and the fixing seat 11 and other parts of the exoskeleton robot can be fixedly connected through bolts passing through the positioning groove 111, and the connection position is adjusted in the length direction of the positioning groove 111.
The baffle assembly 12 is pivotally connected to the fixed seat 11, so as to be in an opened and buckled state relative to the fixed seat 11.
Specifically, the baffle assembly 12 includes a shank bandage arm 121 and a shank baffle 122, the shank bandage arm 121 is pivoted with the fixing seat 11, so that the shank bandage arm 121 can rotate relative to the fixing seat 11, alternatively, the shank bandage arm 121 and the fixing seat can be connected in series through a cylindrical pin, and then split rings are installed at two ends of the cylindrical pin; the shank baffle 122 is connected with the shank bandage arm 121 for fitting with the human shank, and in the fitting process, the shank baffle 122 follows the rotation of the shank bandage arm 121 to be close to the human shank, so as to be in a buckling state when fitting with the human shank, and to be in an opening state when separating from the human shank.
Wherein the shank baffle 122 is rotatably connected with the shank bandage arm 121 to rotate relative to the shank bandage arm 121 following the movement of the human shank when fitted to the human shank.
Specifically, the baffle assembly 12 further includes a first connecting member 123 and a second connecting member 124, the first connecting member 123 is fixedly connected with the shank baffle 122 and is disposed in an arc shape in the middle, referring to fig. 2, the second connecting member 124 includes a light shaft portion 1241, the second connecting member 124 passes through the first connecting member 123 to be connected with the shank bandage arm 121, and the arc-shaped portion is attached to the light shaft portion 1241, so that the first connecting member 123 can rotate relative to the light shaft portion 1241, and the shank baffle 122 can rotate relative to the shank bandage arm 121,
further, the calf flap 122 is detachably connected to the calf bandage arm 121.
Specifically, the second connecting member 124 further includes a threaded portion 1242, and when the second connecting member 124 passes through the first connecting member 123 and is connected to the shank-bandage arm 121, the second connecting member 124 is screwed to the shank-bandage arm 121 through the threaded portion 1242, so that the second connecting member 124 is detachably connected to the shank-bandage arm 121, and further, the shank baffle 122 is detachably connected to the shank-bandage arm 121.
Optionally, the lower leg baffle 122 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 122 can be matched with that of the lower leg of the human body to be suitable for wearing, and further, the lower leg baffle 122 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 121 is arc-shaped, can be anastomosed with the shape of the human shank, and gradually becomes larger in size in the extending direction away from the shank baffle 122, so that the material can be saved, the cost can be reduced, and the overall weight can be reduced.
Further, a shank bandage 1221 is provided on the shank barrier 122 to bind the human shank when fitting the human shank.
The rod mechanism 13 includes a first rod 131 and a second rod 132 pivotally connected at first, and the first rod 131 and the second rod 132 are pivotally connected to the fixing seat 11 and the baffle assembly 12 respectively to follow the baffle assembly 12.
When the baffle assembly 12 is in a buckled state relative to the fixing base 11, the first rod 131 and the second rod 132 are disposed in a straight line relative to the pivot centers 1311 of the first rod 131 and the second rod 132, so as to lock the baffle assembly 12.
Referring to fig. 3, when the baffle assembly 12 is in a buckled state relative to the fixing base 11, since the first rod body 131 and the second rod body 132 are linearly arranged relative to the pivot center 1311 of the first rod body 131 and the second rod body 132, if the baffle assembly 12 needs to be separated from the buckled state, the baffle assembly 12 needs to be rotated in the arrow direction in the drawing, at this time, the linearly arranged first rod body 131 and the linearly arranged second rod body 132 simultaneously support the shank bandage arm 121 and the fixing base 11 in the direction, so that the baffle assembly 12 cannot rotate in the direction, and the baffle assembly 12 is locked.
Further, when the shutter assembly 12 is opened relative to the fixing base 11, the first rod 131 and the second rod 132 are disposed at an angle relative to the pivot center 1311 of the first rod 131 and the second rod 132.
Optionally, the link assembly 13 further includes a third rod 133, where the third rod 133 is connected to the first rod 131 or the second rod 132, so as to push the first rod 131 or the second rod 132 under the action of an external force, so that the first rod 131 or the second rod 132 is changed from a straight line setting to an included angle setting.
In this embodiment, the third rod body 133 is connected to the first rod body 131, when the first rod body 131 and the second rod body 132 are in the above-mentioned linear arrangement, only an external force needs to be manually applied to the third rod body 133, so that the first rod body 131 rotates relative to the fixing seat 11, and the first rod body 131 and the second rod body 132 can be changed from the linear arrangement to the included angle arrangement, at this time, the baffle assembly 12 can be in the non-locking state, and then be changed from the fastening state to the opening state.
Optionally, the third rod 133 is disposed at an angle with respect to the first rod 131 or the second rod 132.
Referring to fig. 4, an exoskeleton robot embodiment of the present invention includes the above-described calf plate member 10, further including a hip joint member 20, a thigh support member 30, a knee joint member 40, a calf support member 50, and a foot support member 60.
Referring to fig. 5, the hip joint component 20 includes a hip joint drive assembly 21 and a hip joint transmission assembly 22.
The hip joint driving assembly 21 includes a hip joint motor mechanism 211, a hip joint speed reducer mechanism 212, a hip joint bearing mechanism 213, and a hip joint friction wheel 214.
Referring to fig. 6, the hip joint motor mechanism 211 includes a hip joint driving motor 211a, a hip joint first connection plate 211b, a hip joint support base 211c, a hip joint spacer 211d, and a hip joint connector 211e.
The hip joint support seat 211c is provided with a through hole 2111, and further, the hip joint support seat 211c is further provided with a first hip joint limiting part 2112, and optionally, the first hip joint limiting part 2112 is a limiting groove, and the number of the first hip joint limiting parts is two.
Further, the first hip joint connection plate 211b is fixedly connected with the hip joint support base 211c, and optionally, the first hip joint connection plate 211b is fixedly connected with the hip joint support base 211c through bolts; the driving shaft 2113 of the hip joint driving motor 211a passes through the through hole 2111 of the hip joint supporting seat 211c from the side of the hip joint supporting seat 211c near the hip joint first connecting plate 211b and is fixedly connected with the hip joint supporting seat 211c, in this embodiment, the hip joint driving motor 211a and the hip joint supporting seat 211c are fixedly connected by flat head bolts from the side of the hip joint supporting seat 211c far from the hip joint first connecting plate 211 b; the hip joint isolation plate 211d is sleeved on the driving shaft 2113 of the hip joint driving motor 211a from one side of the hip joint supporting seat 211c away from the hip joint first connecting plate 211b, in this embodiment, the hip joint isolation plate 211d is also covered on a flat head bolt for fixedly connecting the hip joint driving motor 211a and the hip joint supporting seat 211c, so as to prevent the flat head bolt from loosening to cause the separation of the hip joint driving motor 211a and the hip joint supporting seat 211c; the hip joint connector 211e is sleeved on the driving shaft 2113 of the hip joint driving motor 211a and is pressed on the hip joint isolation plate 211d, further, the hip joint connector 211e is fixedly connected with the driving shaft 2113 of the hip joint driving motor 211a, so that the hip joint connector 211e rotates under the driving of the driving shaft 2113 of the hip joint driving motor 211a, alternatively, the hip joint connector 211e is an oldham coupling, and is fixedly connected with the driving shaft 2113 of the hip joint driving motor 211a at the oldham coupling through bolts.
Referring collectively to fig. 6 and 7, the hip reducer mechanism 212 includes an outer wheel 212a and an inner wheel 212b, the inner wheel 212b being rotatable relative to the outer wheel 212 a.
Specifically, the outer wheel 212a may be fixedly connected to the hip joint support base 211c by bolts, the inner wheel 212b is provided with a clamping groove (not shown in the figure) matched with the hip joint connector 211e, the inner wheel 212b is sleeved on the driving shaft 2113 of the hip joint driving motor 211a, and the clamping groove of the inner wheel 212b is clamped with the hip joint connector 211e, so that the inner wheel 212b and the driving shaft 2113 of the hip joint driving motor 211a are relatively fixed, and the inner wheel 212b is driven by the driving shaft 2113 of the hip joint driving motor 211a to rotate relative to the outer wheel 212 a.
Further, the inner wheel 212b of the hip reducer mechanism 212 is provided with a positioning post 2121 on the side remote from the hip connector 211e.
The hip bearing mechanism 213 includes an outer race 213a and an inner race 213b, and the inner race 213b is rotatable relative to the outer race 213 a.
Specifically, the outer ring 213a is fixedly connected to the hip joint support base 211c on the side of the inner wheel 212b of the hip joint reducer mechanism 212 where the positioning post 2121 is provided, and in this embodiment, is fixedly connected to the hip joint support base 211c by bolts on the side surface of the outer ring 213 a; the inner ring 213b is sleeved on the driving shaft 2113 of the hip drive motor 211a and is matched with the positioning post 2121 on the inner wheel 212b of the hip reducer mechanism 212 in a positioning manner, so that the inner ring 213b is relatively fixed with the inner wheel 212b of the hip reducer mechanism 212 in the axial direction of the driving shaft 2113 of the hip drive motor 211a, and further rotates along with the rotation of the inner wheel 212b of the hip reducer mechanism 212.
The hip joint friction wheel 214 is fixedly connected to the inner ring 213b of the hip joint bearing mechanism 213 on the side of the hip joint bearing mechanism 213 remote from the hip joint reducer mechanism 212.
Specifically, the hip joint friction wheel 214 is in positioning fit with the positioning post 2121 on the inner wheel 212b of the hip joint reducer mechanism 212, so that the hip joint friction wheel 214 and the inner ring 213b of the hip joint bearing mechanism 213 are relatively fixed in the axial direction of the driving shaft 2113 of the hip joint driving motor 211a, and the inner ring 213b of the hip joint bearing mechanism 213 of the hip joint friction wheel 214 can be further fixedly connected by bolts, so that the hip joint friction wheel 214 rotates following the rotation of the inner ring 213b of the hip joint bearing mechanism 213.
Further, the hip joint friction wheel 214 is further provided with a first hip joint buffer 2141, and optionally, the first hip joint buffer 2141 is a tooth disposed on an outer side of the hip joint friction wheel 214.
With further reference to fig. 5, the hip drive assembly 21 further includes a hip motor shield 215, the hip motor shield 215 being configured to shield the hip drive motor 211a to protect the hip drive motor 211 a.
The hip drive assembly 22 is coupled to the hip drive assembly 21 for rotation by the ankle drive assembly 21.
Specifically, the hip drive assembly 22 is frictionally coupled to the hip friction wheel 214 for rotation under the frictional drive of the hip friction wheel 214.
Referring to fig. 8 and 9 together, the hip joint transmission assembly 22 includes a first hip joint transmission member 221 and a second hip joint transmission member 222, wherein a hip joint elastic member 223 is disposed between the first hip joint transmission member 221 and one side of the hip joint friction wheel 214 facing the hip joint motor mechanism 211, the hip joint elastic member 223 generates elastic force in the axial direction of the hip joint motor mechanism 211, and the second hip joint transmission member 222 is fixedly connected with the first hip joint transmission member 221 through bolts on the other side of the hip joint friction wheel 214, so that the second hip joint transmission member 222 is tightly attached to the second hip joint friction wheel 214 under the elastic force, and is further in frictional connection with the second hip joint transmission member 214, so that the second hip joint transmission member 222 is frictionally driven by the rotation of the hip joint friction wheel 214.
Further, a hip joint friction plate 224 and a hip joint steel sheet 225 which are sequentially attached are further provided between the hip joint elastic piece 223 and one side of the hip joint friction wheel 214 facing the hip joint motor mechanism 211, one end of the hip joint elastic piece 223 is abutted against the hip joint first transmission piece 221, and the other end is abutted against the hip joint steel sheet 225, so that the hip joint friction plate 224 is tightly attached to the hip joint friction wheel 114, and further the hip joint first transmission piece 221 is connected with the hip joint friction wheel membranous layer through the hip joint friction plate 224, so that when the hip joint friction wheel 214 rotates, the hip joint friction plate 224 is driven by friction, and the hip joint first transmission piece 221 is driven by friction of the hip joint friction plate 224.
Alternatively, the hip joint elastic member 223 is a cylindrical spring.
Referring to fig. 10, the first hip joint driving member 221 is provided with a second hip joint limiting part 2211, and when the hip joint driving assembly 22 is driven to rotate by friction of the above-mentioned hip joint friction wheel 214, the second hip joint limiting part 2211 cooperates with the first hip joint limiting part 2112 to limit the rotational freedom of the hip joint driving assembly 22.
Optionally, the second hip joint limiting part 2211 is a limiting post matched with the limiting groove of the first hip joint limiting part 2112, and the rotational freedom degree can be set according to actual needs without limitation.
Further, the second hip joint transmission member 222 is provided with a second hip joint buffer portion 2221, and when the second hip joint friction wheel 214 is tightly attached to the second hip joint transmission member 222, the second hip joint buffer portion 2221 is disposed in a gap with the first hip joint buffer portion 2141 of the second hip joint friction wheel 214, so as to play a role in buffering when a speed mutation is encountered in the process of friction driving the rotation of the hip joint transmission assembly 22 through the second hip joint friction wheel 214.
With further reference to fig. 5, the hip joint part 20 further comprises a hip joint second connection plate 23, and the hip joint second connection plate 23 is fixedly connected with the hip joint first connection plate 211b through bolts, wherein a hanging plate 231 is arranged on the hip joint second connection plate 23.
One end of the thigh support part 30 is connected with the hip joint transmission assembly 22 to swing following the rotation of the hip joint transmission assembly 22.
Referring to fig. 11, the thigh support part 30 includes a thigh support plate 31 and a thigh bandage device 32, one end of the thigh support plate 31 is fixedly connected with the hip joint second transmission member 222 through bolts to swing along with rotation of the hip joint second transmission member 222, and the thigh bandage device 32 is fixedly disposed on the thigh support plate 31 through bolts for connecting thigh bandages to fix the thigh.
Referring collectively to fig. 4 and 12, a knee member 40 is coupled to the other end of the thigh support mechanism 20 and includes a knee drive assembly 41 and a knee drive assembly 42.
The knee joint driving unit 41 includes a knee motor mechanism 411, a knee reducer mechanism 412, a knee bearing mechanism 413, and a knee friction wheel 414.
Referring to fig. 13, the knee motor mechanism 411 includes a knee driving motor 411a, a knee first connection plate 411b, a knee support seat 411c, a knee isolation plate 411d, and a knee connector 411e.
The knee joint supporting seat 411c is provided with a through hole 4111, and further, the knee joint supporting seat 411c is further provided with a first knee joint limiting portion 4112, and optionally, the first knee joint limiting portion 4112 is a limiting groove, and the number of the first knee joint limiting portions 4112 is two.
Further, the knee joint first connecting plate 411b is fixedly connected with the knee joint supporting seat 411c, and optionally, the knee joint first connecting plate 411b is fixedly connected with the knee joint supporting seat 411c through bolts; the driving shaft 4113 of the knee joint driving motor 411a passes through the through hole 4111 of the knee joint supporting seat 411c from the side of the knee joint supporting seat 411c close to the knee joint first connecting plate 411b and is fixedly connected with the knee joint supporting seat 411c, in this embodiment, the knee joint driving motor 411a and the knee joint supporting seat 411c are fixedly connected by flat head bolts from the side of the knee joint supporting seat 411c far from the knee joint first connecting plate 411 b; the knee isolation plate 411d is sleeved on a driving shaft 4113 of the knee driving motor 411a from one side of the knee supporting seat 411c away from the knee first connecting plate 411b, in this embodiment, the knee isolation plate 411d is further sleeved on a flat head bolt for fixedly connecting the knee driving motor 411a and the knee supporting seat 411c, so as to prevent the flat head bolt from loosening to separate the knee driving motor 411a from the knee supporting seat 411c; the knee joint connector 411e is sleeved on a driving shaft 4113 of the knee joint driving motor 411a and is pressed on the knee joint isolation plate 411d, and further, the knee joint connector 411e is fixedly connected with the driving shaft 4113 of the knee joint driving motor 411a, so that the knee joint connector 411e rotates under the driving of the driving shaft 4113 of the knee joint driving motor 411a, and optionally, the knee joint connector 411e is a cross coupling and is fixedly connected with the driving shaft 4113 of the knee joint driving motor 411a at the cross shaft of the cross coupling through bolts.
Referring to fig. 13 and 14 together, the knee-joint speed reducer mechanism 412 includes an outer wheel 412a and an inner wheel 412b, the inner wheel 412b being rotatable relative to the outer wheel 412 a.
Specifically, the outer wheel 412a may be fixedly connected to the knee joint support seat 411c by a bolt, the inner wheel 412b is provided with a slot (not shown in the figure) that mates with the knee joint connector 411e, the inner wheel 412b is sleeved on the driving shaft 4113 of the knee joint driving motor 411a, and the slot of the inner wheel 412b is engaged with the knee joint connector 411e, so that the inner wheel 412b is relatively fixed to the driving shaft 4113 of the knee joint driving motor 411a, and further the inner wheel 412b rotates relative to the outer wheel 412a under the driving of the driving shaft 4113 of the knee joint driving motor 411 a.
Further, the inner wheel 412b of the knee-joint reducer mechanism 412 is provided with a positioning post 4121 on the side remote from the knee-joint connector 411e.
The knee joint bearing mechanism 413 includes an outer ring 413a and an inner ring 413b, and the inner ring 413b is rotatable relative to the outer ring 413 a.
Specifically, the outer ring 413a is fixedly connected to the knee joint support seat 411c on the side of the inner wheel 412b of the knee joint speed reducer mechanism 412 where the positioning column 4121 is provided, and in this embodiment, the side surface of the outer ring 413a is fixedly connected to the knee joint support seat 411c by a bolt; the inner ring 413b is sleeved on the driving shaft 4113 of the knee joint driving motor 411a and is matched with the positioning column 4121 on the inner wheel 412b of the knee joint speed reducer mechanism 412 in a positioning manner, so that the inner ring 413b is relatively fixed with the inner wheel 412b of the knee joint speed reducer mechanism 412 in the axial direction of the driving shaft 4113 of the knee joint driving motor 411a, and further rotates along with the rotation of the inner wheel 412b of the knee joint speed reducer mechanism 412.
The knee friction wheel 414 is fixedly connected to the inner ring 113b of the knee bearing mechanism 413 on a side of the knee bearing mechanism 413 remote from the knee reducer mechanism 412.
Specifically, the knee friction wheel 414 is in positioning engagement with the positioning post 4121 on the inner wheel 412b of the knee reducer mechanism 412, so that the knee friction wheel 414 and the inner wheel 413b of the knee bearing mechanism 413 are relatively fixed in the axial direction of the driving shaft 4113 of the knee driving motor 411a, and further the inner wheel 413b of the knee bearing mechanism 413 of the knee friction wheel 414 can be fixedly connected by bolts, so that the knee friction wheel 414 rotates following the rotation of the inner wheel 413b of the knee bearing mechanism 413.
Further, the knee joint friction wheel 414 is further provided with a knee joint first buffer portion 4141, and optionally, the knee joint first buffer portion 4141 is a tooth disposed on an outer side of the knee joint friction wheel 414.
With further reference to fig. 12, the knee drive assembly 41 further includes a knee motor shield 415, the knee motor shield 415 being configured to shield the knee drive motor 411a to protect the knee drive motor 411 a.
The knee transmission assembly 42 is coupled with the knee driving assembly 41 to rotate under the driving of the ankle driving assembly 41.
Specifically, the knee drive assembly 42 is frictionally coupled to the knee friction wheel 414 for rotation under the friction drive of the knee friction wheel 414.
Referring to fig. 15 and 16 together, the knee joint transmission assembly 42 includes a knee joint first transmission member 421 and a knee joint second transmission member 422, a knee joint elastic member 423 is disposed between the knee joint first transmission member 421 and one side of the knee joint friction wheel 414 facing the knee joint motor mechanism 411, the knee joint elastic member 423 generates elastic force in the axial direction of the knee joint motor mechanism 411, and the knee joint second transmission member 422 is fixedly connected with the knee joint first transmission member 421 through a bolt on the other side of the knee joint friction wheel 414, so that the knee joint second transmission member 422 is tightly attached to the knee joint friction wheel 414 under the elastic force, and is further in friction connection with the knee joint friction wheel 414, so that the knee joint friction wheel 414 drives the knee joint second transmission member 422 in a friction manner when rotating.
Further, a knee joint friction plate 424 and a knee joint steel sheet 425 are sequentially attached between the knee joint elastic member 423 and one side of the knee joint friction wheel 414 facing the knee joint motor mechanism 411, one end of the knee joint elastic member 423 is abutted against the knee joint first transmission member 421, and the other end is abutted against the knee joint steel sheet 425, so that the knee joint friction plate 424 is abutted against the knee joint friction wheel 414, and further the knee joint first transmission member 421 is connected with the knee joint friction wheel film layer through the knee joint friction plate 424, so that the knee joint friction plate 424 is driven by friction when the knee joint friction wheel 414 rotates, and the knee joint first transmission member 421 is driven by friction of the knee joint friction plate 424.
Alternatively, the knee joint elastic member 423 is a cylindrical spring.
Referring to fig. 17, the first knee joint driving member 421 is provided with a second knee joint limiting portion 4211, and when the knee joint driving assembly 42 is friction-driven to rotate by the above-mentioned knee joint friction wheel 414, the second knee joint limiting portion 4211 cooperates with the first knee joint limiting portion 4112 to limit the rotational freedom of the knee joint driving assembly 42.
Optionally, the knee joint second limiting portion 4211 is a limiting post matched with the limiting groove of the knee joint first limiting portion 4112, and the rotational degree of freedom can be set according to actual needs, which is not limited herein.
Further, the knee joint second transmission member 422 is provided with a knee joint second buffer portion 4221, and when the knee joint friction wheel 414 is in close contact with the knee joint second transmission member 422, the knee joint second buffer portion 4221 is disposed in a gap with the knee joint first buffer portion 4141 of the knee joint friction wheel 414, 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 42 to rotate by the knee joint friction wheel 414.
In other embodiments, only one of the hip joint part 20 and the knee joint part 40 may be in a friction wheel friction driving transmission assembly, and the other may be in other driving manners, such as hydraulic driving or connecting rod driving.
The calf support member 50 is connected with the knee joint drive assembly 42 to swing following rotation of the knee joint drive assembly 42 and with the foot support member 10 to move the foot support member 10.
Referring to fig. 18, the calf support member 50 includes a calf first support plate 51 and a calf second support plate 52 connected end to end, one end of the calf first support plate 51 is fixedly connected with the knee second transmission member 422 of the knee transmission assembly 42 by bolts to swing following rotation of the knee second transmission member 422, and the other end is fixedly connected with the calf second support plate 52 by bolts.
Referring to fig. 4 and 19 together, the foot support member 60 is coupled to the calf support member 50 for movement in response to the swing of the calf support mechanism 50, including the resilient cushioning element 61 and the foot carrying assembly 62.
Alternatively, the elastic buffer 61 is a strip wound.
The elastic buffer 61 includes an ankle matching portion 611 and a supporting portion 612, wherein the ankle matching portion 611 and the supporting portion 612 are connected by being bent obliquely, so as to generate a first elastic force opposite to the bending direction of the ankle matching portion 611.
In the present embodiment, the ankle joint matching portion 611 is in the form of a torsion spring.
Further, the number of the supporting portions 612 is two, the elastic buffer 61 further includes an achilles tendon matching portion 613, and two ends of the achilles tendon matching portion 613 are respectively connected with the two supporting portions 612 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 portion 613.
Alternatively, the two support portions 612 may be parallel to each other or splayed.
Further, the elastic cushion 61 further includes a first connection portion 614 connected to the ankle joint mating portion 611, the first connection portion 614 being for connecting other components of the exoskeleton robot, and in the present embodiment, the first connection portion 614 is connected to the lower leg second support plate 42 of the exoskeleton robot through the connection sleeve 53.
The first connecting portion 614 is hooked, and the hooked first connecting portion 614 is fixedly connected with the connecting sleeve 63 through a bolt, so that the first connecting portion 614 can be prevented from rotating or sliding in the connecting sleeve 63, and structural stability is enhanced.
Further, the elastic buffer 61 further includes a second connection portion 615, and the second connection portion 615 is vertically connected to the support portion 612.
Further, the elastic buffer 61 is provided with a first bandage 616, and two ends of the first bandage 616 are connected to the elastic buffer 61 to wrap the rear foot of the human foot with the elastic buffer 61.
In this embodiment, the first bandage 616 is connected to the elastic buffer member 61 through the bandage plate 617, one end of the bandage plate 617 is fixedly connected to the elastic buffer member 61, the other end is connected to one end of the first bandage 616, and the other end of the first bandage 616 is connected to the elastic buffer member 61.
The foot supporting assembly 62 is connected with the elastic buffer 61 for wrapping the human foot together.
Specifically, the foot supporting component 62 includes a bottom plate 621, a second bandage 622 is disposed on the bottom plate 621, two ends of the second bandage 622 are connected to the bottom plate 621 to wrap the front foot of the human foot together with the bottom plate 621, and the elastic buffer member 61 and the first bandage 616 are combined to wrap the rear foot of the human foot together, so as to wrap the human foot.
The bottom plate 621 is fixed relative to the second connecting portion 616 of the elastic buffer 61 for carrying the foot, and in this embodiment, the bottom plate 621 is fixedly connected to the second connecting portion 616 through the bottom plate connecting plate 623.
Specifically, the number of the bottom plate connecting plates 623 is two, the two bottom plate connecting plates 623 clamp the first connecting portion 616 and the supporting portion 612 together and are fixedly connected by bolts, so that the bottom plate connecting plates 623 and the second connecting portion 616 are relatively fixed, and then the bottom plate 621 and the bottom plate connecting plates 623 are fixedly connected by bolts.
Wherein, the bottom plate 621 can 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 621 can 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 621 remote from the second bandage 622 is also provided with a pad 624, which pad 624 is adapted to increase friction with the ground when in contact with the ground.
Alternatively, the material of the pad 624 is a rubber material.
Further, when the elastic buffer 61 and the foot supporting component 62 jointly wrap the human foot, the elastic buffer 61 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 611 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 613 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 a landing action.
Further, since the ankle joint matching part 611 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.
Referring to fig. 4 and 20 together, the present embodiment further includes a lumbar support member 70, wherein the lumbar support member 70 is connected to the hip joint member 20 for fitting with the lumbar region of the human body and further supporting the lumbar region of the human body, and includes a lumbar first connection member 71, a lumbar first support plate 72, a lumbar second connection member 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 23, 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 human waist so as to be matched with the human waist.
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 211a and the knee joint driving motor 411a, and the controller 752 is electrically connected to control the operation states of the hip joint driving motor 211a and the knee joint driving motor 411 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 20 and/or the knee joint component 40 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, although only the above two states are described in the present embodiment, 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 baffle assembly of the lower leg baffle component is buckled relative to the fixed seat, and the first rod body and the second rod body of the connecting rod mechanism are arranged in a straight line relative to the pivot centers of the first rod body and the second rod body, so that the baffle assembly is locked, the condition that the baffle assembly and the lower leg of a human body fall off when the baffle assembly is buckled with the lower leg of the human body is reduced or even avoided, and the use convenience and the safety are improved.
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 (9)
1. An exoskeleton robot, comprising a calf baffle member and a hip joint member;
the lower leg shield assembly includes:
a fixing seat;
the baffle plate assembly is pivoted to the fixed seat so as to be in an opened and buckled state relative to the fixed seat;
the connecting rod mechanism comprises a first rod body and a second rod body which are pivoted at the first position, and the first rod body and the second rod body are respectively pivoted on the fixing seat and the baffle assembly so as to follow the baffle assembly;
when the baffle assembly is in an open state relative to the fixed seat, the first rod body and the second rod body are arranged at an included angle relative to the pivot centers of the first rod body and the second rod body;
when the baffle assembly is in a buckling state relative to the fixed seat, the first rod body and the second rod body are arranged in a straight line relative to the pivot centers of the first rod body and the second rod body so as to lock the baffle assembly;
the hip joint component 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;
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;
the hip joint elastic piece and one side of the hip joint friction wheel facing the hip joint motor mechanism are also 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, so that the hip joint friction plate is tightly attached to the hip joint friction wheel, and further the first hip joint transmission piece is in friction connection with the hip joint friction wheel through the hip joint friction plate.
2. The exoskeleton robot of claim 1, wherein the linkage further comprises a third rod connected to the first rod or the second rod for pushing the first rod or the second rod under an external force, thereby changing the first rod and the second rod from the straight setting to the included angle setting.
3. The exoskeleton robot of claim 2, wherein the third rod body is disposed at an angle to the first rod body or the second rod body.
4. The exoskeleton robot of claim 1, wherein the barrier assembly comprises a shank bandage arm and a shank barrier connected to the shank bandage arm for conforming to a human shank.
5. The exoskeleton robot of claim 4, wherein the calf plate is rotatably connected to the calf bandage arm to rotate relative to the calf bandage arm following movement of the human calf when engaged with the human calf.
6. The exoskeleton robot of claim 5, wherein the calf baffle is removably connected to the calf bandage arm.
7. The exoskeleton robot of claim 6, wherein a shank bandage is provided on the shank baffle to bind the human shank when the shank baffle is attached to the human shank.
8. The exoskeleton robot of claim 4, wherein the shank bandage arms are disposed in an arc shape and become progressively larger in size in an extending direction away from the shank barrier.
9. The exoskeleton robot of claim 1, wherein the fixing base is provided with a positioning slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710760025.5A CN107595556B (en) | 2017-08-29 | 2017-08-29 | Exoskeleton robot and lower leg baffle component thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710760025.5A CN107595556B (en) | 2017-08-29 | 2017-08-29 | Exoskeleton robot and lower leg baffle component thereof |
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| CN107595556B true CN107595556B (en) | 2023-07-07 |
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| EP3536297A1 (en) * | 2018-02-23 | 2019-09-11 | LG Electronics Inc. | Wearable assistive device that efficiently delivers assistive force |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7393335B2 (en) * | 2004-05-06 | 2008-07-01 | Carvey Matthew R | Metabolically efficient leg brace |
| CN201201845Y (en) * | 2008-03-04 | 2009-03-04 | 苏州江南嘉捷电梯股份有限公司 | Strut apparatus for elevating plate |
| CN102336208B (en) * | 2010-07-15 | 2014-09-10 | 明门香港股份有限公司 | Support device, folding infant frame and folding operation method of infant frame |
| TWI556809B (en) * | 2014-03-27 | 2016-11-11 | 財團法人工業技術研究院 | Walking assist device |
| CN204744857U (en) * | 2015-07-24 | 2015-11-11 | 黄河科技学院 | Mechanism is born in rotation of unpowered low limbs joint decompression ectoskeleton device |
| FR3046053B1 (en) * | 2015-12-24 | 2017-12-22 | Sagem Defense Securite | FOOT MODULE FOR AN EXOSQUELET STRUCTURE |
| TWM539645U (en) * | 2016-11-30 | 2017-04-11 | First Dome Corp | Hinge for electronic devices |
| CN208582679U (en) * | 2017-08-29 | 2019-03-08 | 中国科学院深圳先进技术研究院 | A kind of exoskeleton robot and its shank baffle component |
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