CN108161903A - Bionic three-degree-of-freedom exoskeleton ankle joint - Google Patents
Bionic three-degree-of-freedom exoskeleton ankle joint Download PDFInfo
- Publication number
- CN108161903A CN108161903A CN201810007994.8A CN201810007994A CN108161903A CN 108161903 A CN108161903 A CN 108161903A CN 201810007994 A CN201810007994 A CN 201810007994A CN 108161903 A CN108161903 A CN 108161903A
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- Prior art keywords
- ankle
- joint
- degree
- stent
- shank bearing
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a bionic three-degree-of-freedom exoskeleton ankle joint, which comprises a mechanism rod piece and an ankle joint support in a U-shaped structure, wherein two shank bearing rods which are arranged in parallel are hinged between the mechanism rod piece and the opening end part of the ankle joint support, so that the mechanism rod piece, the ankle joint support and the two shank bearing rods form a parallelogram structure which is restrained to move in the same plane when in shearing motion, an ankle joint bandage is arranged at the opening end part of the ankle joint support, a rotatable insole is arranged at the upper side of the bottom of the ankle joint support, a driving element is hinged between the ankle joint support and one shank bearing rod, and a central line L1 of the parallelogram structure, a rotating central line L2 of the insole, a hinge joint central connecting line L3 of the ankle joint support and the two shank bearing rods are intersected at an ankle joint central point O at the opening end part of the ankle joint support.
Description
Technical field
The present invention relates to exoskeleton robot technologies, and in particular to a kind of bionical Three Degree Of Freedom exoskeleton ankle joint.
Background technology
Foreign countries have certain basis and achievement for the research of ectoskeleton, its research is also just being risen in the country.It is outer at present
Bone is mainly used for the fields such as medical rehabilitation, individual combat, industrial production.Existing exoskeleton robot is right in Bionic Design
Organization of human body has done simplification, the especially simplification to joint and its movement so that ectoskeleton has differences with human motion, specifically
Show that comfort is bad when wearing ectoskeleton takes.For example, application No. is 201210319331.2 Chinese patent literature propositions
A kind of wearable weight type material handling power-assisted bionic exoskeleton, there are two degree of freedom for ankle-joint design, can simulate ankle
Joint dorsiflex and/varus of turning up, and can not realize the internal/external rotations of model of human ankle, there are larger differences with human motion, hold
Easily it is restricted human motion；Chinese patent literature application No. is 201310686549.6 proposes a kind of wearable dermoskeleton
Bone power-assisting robot, ankle-joint are designed with three degree of freedom, can carry out flexion/extension, outer pendulum/interior receipts, internal/external rotations, however its
Three rotation centers are not overlapped with model of human ankle center, may cause ectoskeleton clothes and the space interference of human body, wearing comfort
Property is to be improved.
Invention content
The technical problem to be solved in the present invention：It is not assisted for movement man-machine existing for the exoskeleton ankle joint of the prior art
Adjust, there are in-fighting, wearing comfort is bad the problems such as, a kind of wearing comfort higher is provided, is more coordinated with human motion, energy
Enough bionical Three Degree Of Freedom exoskeleton ankle joints for really realizing enhancing human body maneuverability.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：
A kind of bionical Three Degree Of Freedom exoskeleton ankle joint, the ankle-joint stent including mechanism rod piece and u-shaped structure, the machine
The shank bearing rod of two parallel arrangements is hinged between the open end of structure rod piece and ankle-joint stent so that mechanism rod piece,
Ankle-joint stent, two shank bearing rod formation constrain in the parallelogram knot of approximately the same plane activity when doing shearing motion
Structure, the open end of the ankle-joint stent are equipped with ankle-joint bandage, are installed with and can turn on the upside of the bottom of the ankle-joint stent
Dynamic insole is hinged with driving element, the parallelogram sturcutre between the ankle-joint stent and a shank bearing rod
Center line L1, the rotary centerline L2 of the insole, ankle-joint stent and two shank bearing rods the hinge joint line of centres
L3 three intersects at the ankle-joint central point O of the open end of ankle-joint stent.
Preferably, the mechanism rod piece includes two connecting rods being arranged parallel to, the both ends of the connecting rod respectively with it is small
The upper articulation connection of leg bearing rod.
Preferably, the mechanism rod piece further includes knee-pad, and the knee-pad is mounted on the inside of two connecting rods.
Preferably, top of the both ends of the connecting rod respectively with shank bearing rod is connect by upper rotary shaft, and the ankle closes
The open end of section stent is connect with the lower part of shank bearing rod by lower rotary shaft, the equal edge of the upper rotary shaft, lower rotary shaft
The length direction parallel arrangement of insole；Described driving element one end is hingedly mounted on shank bearing rod, the other end passes through drive
Turn moving axis is connected with the middle part of ankle-joint stent, and the driving rotation axis is arranged in parallel along the width direction of insole.
Preferably, the insole includes half sole and back seat, is connected between the half sole and back seat by connecting shaft, after described
Seat is mounted on the upside of the bottom of ankle-joint stent.
Preferably, the bottom of the back seat is set on concave portion, and the bottom of the ankle-joint stent is located in concave portion.
Preferably, the half sole is equipped with foot's bandage for fixed foot portion.
Preferably, the ankle-joint bandage, foot's bandage are made of flexible material, and the shank bearing rod uses carbon
Fiber is made.
Preferably, the driving element is hydraulic cylinder or cylinder or linear drive motor.
Preferably, it is hinged with passive energy-accumulating element between the ankle-joint stent and another shank bearing rod.
The bionical Three Degree Of Freedom exoskeleton ankle joint tool of the present invention has the advantage that：
1st, the present invention has filled up blank of the ectoskeleton clothes in ankle bionic joint design field.
2nd, ankle-joint of the invention design fully considers simulation of human body, passes through the center line L1 of parallelogram sturcutre, institute
The hinge joint line of centres L3 three for stating the rotary centerline L2 of insole, ankle-joint stent and two shank bearing rods intersects at ankle
The ankle-joint central point O of the open end of knuckle support so that the rotation center and model of human ankle for the three degree of freedom having
Center overlaps, and makes wearer motion more naturally, can spatially avoid the geometrical interference of ectoskeleton clothes and human body simultaneously, so as to
Ectoskeleton clothes and the in-fighting of human motion are reduced, improve the wearing comfort of ectoskeleton clothes.
3rd, the configuration of the present invention is simple, more dexterity, low energy consumption, reliability is preferable.
4th, passive energy-accumulating element is further hinged between ankle-joint stent of the present invention and another shank bearing rod, it is bionical
Ankle-joint further employs the main drive form passively combined, can enhance mechanical property and the cruise duration of ectoskeleton
5th, ankle-joint bandage of the present invention, foot's bandage are further made of flexible material, and shank bearing rod further uses
Carbon fiber is made, and ectoskeleton is made to have both the load-carrying properties of rigid exo bone, and comfortable, the high-effect raising with flexible exoskeleton
The comfort of wearing.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the embodiment of the present invention.
Fig. 2 is the side structure schematic view of the embodiment of the present invention.
Fig. 3 is the degree of freedom schematic diagram of the ankle-joint flexion/extension of the embodiment of the present invention.
Fig. 4 is the degree of freedom schematic diagram of pendulum outside the ankle-joint of the embodiment of the present invention/interior receipts.
Marginal data：1st, mechanism rod piece；11st, connecting rod；12nd, knee-pad；2nd, ankle-joint stent；21st, ankle-joint bandage；3rd, shank
Bearing rod；31st, upper rotary shaft；32nd, lower rotary shaft；4th, insole；41st, half sole；42nd, back seat；421st, in concave portion；43rd, foot ties up
Band；5th, driving element；51st, rotation axis is driven；6th, passive energy-accumulating element.
Specific embodiment
As depicted in figs. 1 and 2, the bionical Three Degree Of Freedom exoskeleton ankle joint of the present embodiment includes mechanism rod piece 1 and in U-shaped
Be hinged between the open end of the ankle-joint stent 2 of shape structure, mechanism rod piece 1 and ankle-joint stent 2 two parallel arrangement
Shank bearing rod 3 so that 2, two mechanism rod piece 1, ankle-joint stent formation of shank bearing rod 3 constrain in same when doing shearing motion
The parallelogram sturcutre of one two-dimensional activity, the open end of ankle-joint stent 2 are equipped with ankle-joint bandage 21, ankle-joint stent
Rotatable insole 4 is installed on the upside of 2 bottom, driving element is hinged between ankle-joint stent 2 and a shank bearing rod 3
5, the center line L1 of parallelogram sturcutre, the rotary centerline L2 of insole 4, ankle-joint stent 2 and two shank bearing rods 3
Hinge joint line of centres L3 three intersects at the ankle-joint central point O of the open end of ankle-joint stent 2.
The bionical Three Degree Of Freedom exoskeleton ankle joint of the present embodiment includes three degree of freedom：Flexion/extension, outer pendulum/interior receipts are interior
Rotation/outward turning, wherein driving relative motion between ankle-joint stent 2 and a shank bearing rod 3, hydraulic cylinder by driving element 5
Ankle-joint is rotated upwardly and downwardly, it can be achieved that the degree of freedom of ankle-joint flexion/extension when releasing and takeing in, as shown in Figure 3；By mechanism rod piece 1,
2, two formation of shank bearing rod 3 of ankle-joint stent constrain in the parallelogram knot of approximately the same plane activity when doing shearing motion
Structure, it can be achieved that put outside ankle-joint/degree of freedom of interior receipts, as shown in Figure 4；It can by being installed on the upside of the bottom of ankle-joint stent 2
The insole 4 of rotation so that ankle-joint stent 2 and insole 4 increase revolute pair, realize the degree of freedom of ankle-joint internal/external rotations, such as
In Fig. 1 shown in arcuation arrow.Due to the center line L1 of parallelogram sturcutre, the rotary centerline L2 of insole 4, ankle-joint stent
2 and two shank bearing rods 3 hinge joint line of centres L3 three intersect at ankle-joint stent 2 the ankle-joint of open end in
Heart point O, so that the ankle-joint center of the rotation center for the three degree of freedom having and human body（Ankle-joint central point O）Weight
It closes, makes wearer motion more naturally, can spatially avoid the geometrical interference of ectoskeleton clothes and human body simultaneously, it is outer so as to reduce
Exoskeleton suit and the in-fighting of human motion improve the wearing comfort of ectoskeleton clothes, simple, dexterous light with system structure（Matter
Amount and volume are smaller）, be easy to control, safeguard and use the advantages of simple, reliability is preferable.
As depicted in figs. 1 and 2, mechanism rod piece 1 includes two connecting rods 11 being arranged parallel to, and the both ends of connecting rod 11 are distinguished
It is connect with the upper articulation of shank bearing rod 3, it is ensured that mechanism rod piece 1 and two shank bearing rods 3 connect more reliable and more stable, have
The stability of parallelogram sturcutre formed conducive to raising mechanism rod piece 1, ankle-joint stent 2, shank bearing rod 3.
As depicted in figs. 1 and 2, mechanism rod piece 1 further includes knee-pad 12, and knee-pad 12 is mounted on the inside of two connecting rods 11, can
With effective protection knee, can be made as needed of rigidity or flexible material.
As depicted in figs. 1 and 2, the both ends of connecting rod 11 are connect respectively with the top of shank bearing rod 3 by upper rotary shaft 31,
The open end of ankle-joint stent 2 is connect with the lower part of shank bearing rod 3 by lower rotary shaft 32, upper rotary shaft 31, lower rotation
Axis 32 is arranged in parallel each along the length direction of insole 4；5 one end of driving element is hingedly mounted on shank bearing rod 3, the other end
By the way that rotation axis 51 and the middle part of ankle-joint stent 2 is driven to be connected, width direction parallel cloth of the rotation axis 51 along insole 4 is driven
It puts, passes through above structure, it is ensured that ankle-joint flexion/extension, outer pendulum/interior receive the reliable and stable of two degree of freedom.
In the present embodiment, insole 4 includes half sole 41 and back seat 42, is connected between half sole 41 and back seat 42 by connecting shaft,
Back seat 42 is mounted on the upside of the bottom of ankle-joint stent 2, it can be achieved that turned over before sole/after turn over degree of freedom.
As depicted in figs. 1 and 2, the bottom of back seat 42 is set on concave portion 421, and the bottom of ankle-joint stent 2 is located at concave portion
In 421, be conducive to improve insole 4 and the contact area on ground, and 2 excessive wear of ankle-joint stent can be prevented.
As depicted in figs. 1 and 2, half sole 41 is equipped with foot's bandage 43 for fixed foot portion, is conducive to fixed sole.
As depicted in figs. 1 and 2, ankle-joint bandage 21, foot's bandage 43 are made of flexible material, shank bearing rod 3
It is made of carbon fiber, ectoskeleton is made to have both the load-carrying properties of rigid exo bone, and comfortable, high-effect with flexible exoskeleton
Improve the comfort of wearing.
In the present embodiment, driving element 5 can be as needed using hydraulic cylinder or cylinder or linear drive motor.This reality
It applies in example, driving element 5 is specifically using linear drive motor, and electric system technology maturation, system structure are simple, pollution-free, dimension
Shield uses simple.
As depicted in figs. 1 and 2, it is passive to be hinged between ankle-joint stent 2 and another shank bearing rod 3 in the present embodiment
Energy-accumulating element 6 forms the main drive form passively combined, using driving element by passive energy-accumulating element 6 and driving element 5
5 provide active drive power-assisteds, while passive energy accumulated assisted using passive energy-accumulating element 6, can enhance ectoskeleton mechanical property and
Cruise duration.In the present embodiment, passive energy-accumulating element 6 specifically using spring realize, can also use as needed in addition cylinder,
The energy-accumulating elements such as oil cylinder or spring ratchet mechanism although configurations, are applied to ankle-joint stent 2 and another shank
To realize that the main drive form passively combined is identical with the present embodiment between bearing rod 3, therefore details are not described herein.
The above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of bionical Three Degree Of Freedom exoskeleton ankle joint, it is characterised in that：Including mechanism rod piece（1）With u-shaped structure
Ankle-joint stent（2）, the mechanism rod piece（1）With ankle-joint stent（2）Open end between be hinged with two parallel arrangements
Shank bearing rod（3）So that mechanism rod piece（1）, ankle-joint stent（2）, two pieces shank bearing rods（3）Shearing motion is done in formation
When constrain in the parallelogram sturcutre of approximately the same plane activity, the ankle-joint stent（2）Open end be equipped with ankle-joint
Bandage（21）, the ankle-joint stent（2）Bottom on the upside of be installed with rotatable insole（4）, the ankle-joint stent（2）With
A piece shank bearing rod（3）Between be hinged with driving element（5）, center line L1, the insole of the parallelogram sturcutre
（4）Rotary centerline L2, ankle-joint stent（2）With two shank bearing rods（3）Hinge joint line of centres L3 three intersect
In ankle-joint stent（2）Open end ankle-joint central point O.
2. bionical Three Degree Of Freedom exoskeleton ankle joint according to claim 1, it is characterised in that：The mechanism rod piece（1）
The connecting rod being arranged parallel to including two（11）, the connecting rod（11）Both ends respectively with shank bearing rod（3）Top hinge
It connects in succession.
3. bionical Three Degree Of Freedom exoskeleton ankle joint according to claim 2, it is characterised in that：The mechanism rod piece（1）
Further include knee-pad（12）, the knee-pad（12）Mounted on two connecting rods（11）Inside.
4. bionical Three Degree Of Freedom exoskeleton ankle joint according to claim 2, it is characterised in that：The connecting rod（11）Two
End respectively with shank bearing rod（3）Top pass through upper rotary shaft（31）Connection, the ankle-joint stent（2）Open end with
Shank bearing rod（3）Lower part pass through lower rotary shaft（32）Connection, the upper rotary shaft（31）, lower rotary shaft（32）Each along footwear
Pad（4）Length direction parallel arrangement；The driving element（5）One end is hingedly mounted on shank bearing rod（3）The upper, other end leads to
It overdrives rotation axis（51）With ankle-joint stent（2）Middle part be connected, the driving rotation axis（51）Along insole（4）Width
Direction is arranged in parallel.
5. bionical Three Degree Of Freedom exoskeleton ankle joint according to claim 1, it is characterised in that：The insole（4）Including
Half sole（41）And back seat（42）, the half sole（41）And back seat（42）Between be connected by connecting shaft, the back seat（42）Installation
In ankle-joint stent（2）Bottom on the upside of.
6. bionical Three Degree Of Freedom exoskeleton ankle joint according to claim 5, it is characterised in that：The back seat（42）Bottom
Portion is set on concave portion（421）, the ankle-joint stent（2）Bottom be located at concave portion（421）In.
7. bionical Three Degree Of Freedom exoskeleton ankle joint according to claim 6, it is characterised in that：The half sole（41）On set
It is useful for foot's bandage of fixed foot portion（43）.
8. bionical Three Degree Of Freedom exoskeleton ankle joint according to claim 7, it is characterised in that：The ankle-joint bandage
（21）, foot's bandage（43）It is made of flexible material, the shank bearing rod（3）It is made of carbon fiber.
9. bionical Three Degree Of Freedom exoskeleton ankle joint according to claim 1, it is characterised in that：The driving element（5）
For hydraulic cylinder or cylinder or linear drive motor.
10. the bionical Three Degree Of Freedom exoskeleton ankle joint according to any one in claim 1~9, it is characterised in that：Institute
State ankle-joint stent（2）With another shank bearing rod（3）Between be hinged with passive energy-accumulating element（6）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810007994.8A CN108161903B (en) | 2018-01-04 | 2018-01-04 | Bionic three-degree-of-freedom exoskeleton ankle joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810007994.8A CN108161903B (en) | 2018-01-04 | 2018-01-04 | Bionic three-degree-of-freedom exoskeleton ankle joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108161903A true CN108161903A (en) | 2018-06-15 |
| CN108161903B CN108161903B (en) | 2020-02-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810007994.8A Active CN108161903B (en) | 2018-01-04 | 2018-01-04 | Bionic three-degree-of-freedom exoskeleton ankle joint |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109431745A (en) * | 2018-11-12 | 2019-03-08 | 上海市东方医院 | A kind of ankle joint rehabilitation device and its training method |
| CN109528440A (en) * | 2018-10-23 | 2019-03-29 | 哈尔滨工业大学 | A kind of lower limb exoskeleton ankle-joint based on telecentricity mechanism |
| CN112294605A (en) * | 2020-10-13 | 2021-02-02 | 北京理工大学前沿技术研究院 | Self-balancing ankle joint exoskeleton |
| CN112451319A (en) * | 2020-11-24 | 2021-03-09 | 布法罗机器人科技（成都）有限公司 | Exoskeleton joint system for assisting walking |
| WO2022222514A1 (en) * | 2021-04-23 | 2022-10-27 | 中国科学院深圳先进技术研究院 | Exoskeleton robot ankle joint having three flexible driving branches |
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| CN107260496A (en) * | 2017-08-17 | 2017-10-20 | 四川汇智众创科技有限公司 | A kind of wearable exoskeleton lower limb rehabilitation robot |
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| JP4057840B2 (en) * | 2002-05-21 | 2008-03-05 | トヨタ自動車株式会社 | Multi-axis joint robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109528440A (en) * | 2018-10-23 | 2019-03-29 | 哈尔滨工业大学 | A kind of lower limb exoskeleton ankle-joint based on telecentricity mechanism |
| CN109528440B (en) * | 2018-10-23 | 2021-03-02 | 哈尔滨工业大学 | Lower limb exoskeleton ankle joint based on telecentric mechanism |
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| CN112294605B (en) * | 2020-10-13 | 2023-05-16 | 北京理工大学前沿技术研究院 | Self-balancing ankle exoskeleton |
| CN112451319A (en) * | 2020-11-24 | 2021-03-09 | 布法罗机器人科技（成都）有限公司 | Exoskeleton joint system for assisting walking |
| CN112451319B (en) * | 2020-11-24 | 2023-03-14 | 布法罗机器人科技（成都）有限公司 | Exoskeleton joint system for assisting walking |
| WO2022222514A1 (en) * | 2021-04-23 | 2022-10-27 | 中国科学院深圳先进技术研究院 | Exoskeleton robot ankle joint having three flexible driving branches |
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