CN108247618B - Lower limb exoskeleton capable of reducing load of back and knee joint - Google Patents
Lower limb exoskeleton capable of reducing load of back and knee joint Download PDFInfo
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- CN108247618B CN108247618B CN201810327692.9A CN201810327692A CN108247618B CN 108247618 B CN108247618 B CN 108247618B CN 201810327692 A CN201810327692 A CN 201810327692A CN 108247618 B CN108247618 B CN 108247618B
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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
Abstract
The invention discloses a lower limb exoskeleton capable of reducing loads of a back part and a knee joint, which comprises a back supporting device, a hip supporting device, a leg supporting device and a knee device, wherein the back supporting device comprises a back protection pad, a binding belt arranged on the back protection pad and two back connecting rods arranged at the lower end of the back protection pad, the hip supporting device comprises a rotating lever, the upper end of the rotating lever is hinged with the back connecting rods through a back hip connecting shaft, and the middle part of the rotating lever is provided with a leg hip connecting shaft. Compared with the active power-assisted exoskeleton, the active power-assisted exoskeleton is compact in structure, small in self weight, free of driving and small in working noise.
Description
Technical Field
The invention relates to the field of lower limb assistance exoskeletons, in particular to a stooping assistance exoskeleton and a leg assistance exoskeleton.
Background
The power-assisted exoskeleton robot is a power assisting device capable of assisting the movement of a human body and improving the movement capacity of the human body, and is widely applied to the military and civil fields nowadays. The existing power-assisted exoskeleton is divided into an active power-assisted exoskeleton and a passive power-assisted exoskeleton, wherein the active power-assisted exoskeleton drives a robot to drive a human body to move through a motor or other driving modes to assist the human body to finish walking, carrying and other actions, so that the power-assisted effect is achieved. The passive power-assisted exoskeleton does not need to be driven, the motion of the exoskeleton robot is driven by the motion of a human body, and the exoskeleton mainly transfers the labor load of a certain part of the human body instead of enhancing the motion capability of the human body.
With the development of social economy, the social production activities of human beings tend to be automated increasingly, but manual lifting and squatting operations are still difficult to replace by machines in certain fields, and the phenomena of lower back pain and knee joint strain caused by long-time stoop carrying and squatting operations are very common among groups of workers. At present, most of the power-assisted exoskeletons designed aiming at the problem are active power-assisted exoskeletons, namely, the exoskeletons are driven by a driving device to drive a human body to move, so that the labor load of a user on the back and the knee joint during work is reduced. However, the active power-assisted exoskeleton usually requires a plurality of driving units, a large amount of energy to drive the exoskeleton, and a large-capacity battery or other energy storage methods, which results in a large volume and weight of the active power-assisted exoskeleton and noise during operation.
Therefore, the invention provides a passive lower limb exoskeleton which is compact in structure and small in self weight, is used for reducing the working load of the back and the knee joint when a user carries out stooping and carrying and squatting operation, and plays a role in preventing and reducing the probability of suffering from lower back pain and knee joint injury.
Disclosure of Invention
The invention aims to provide a passive energy storage type lower limb exoskeleton robot based on a tension spring and a gas spring, and solves the problems that an active joint driving assistance exoskeleton is large in self mass, large in driving energy consumption, capable of generating noise during working and the like during stooping and carrying and squatting operation.
In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows: a lower extremity exoskeleton alleviating the load on the back and knee joints, characterized in that: comprises a back supporting device, a hip supporting device, a leg supporting device and a knee device,
the back supporting device comprises a back protection pad, a binding belt arranged on the back protection pad and two back connecting rods arranged at the lower end of the back protection pad,
the hip supporting device comprises a rotating lever, the upper end of the rotating lever is hinged with the back connecting rod through a back hip connecting shaft, the middle part of the rotating lever is provided with a leg hip connecting shaft,
the leg supporting device comprises a thigh plate and a tension spring, the upper end of the thigh plate is hinged with the leg hip connecting shaft, the upper end of the tension spring is fixedly arranged at the lower end of the rotating lever, the lower end of the tension spring is arranged on the thigh plate through a first sliding locking device,
the knee device includes T type knee joint connecting device, knee joint rotation axis, air spring, slider locking device and shank board, T type knee joint connecting device's upper end is connected with the lower extreme of shank board, T type knee joint connecting device's lower extreme passes through the knee joint rotation axis and is connected with shank board hinge, the upper end of air spring and T type knee joint connecting device's protrusion end hinged joint, the lower extreme of air spring rotates and sets up on the slider, the setting is established on shank board 9 to the slider slip cap, and slider locking device locates the slider below and overlaps and locate on the shank board.
Preferably, the inner side of the thigh plate is fixedly provided with a waist coupling device, the waist coupling device is arranged at the upper part of the thigh plate, the main body structure is a bilateral symmetry 'half-square' shaped aluminum alloy structure, and the binding band is bound with the human body through a binding band seam on the waist coupling device, so that the high coupling performance of the whole device and the human body is ensured.
Preferably, the outer side of the rotating lever is provided with a hip joint outer shell, the hip joint outer shell is positioned on the outer side of the thigh plate and fixed with the thigh plate through fastening screws, the hip joint outer shell is in an inverted triangle shape, and a square slideway is arranged in the middle of the hip joint outer shell, so that the locking knob can slide in the slideway and can be locked at any position of the slideway through the rotating knob.
Preferably, the thigh plate is further provided with a thigh coupling device, the thigh coupling device comprises a baffle arranged on the front side of the thigh, a bandage used for binding the leg on the baffle, and a right-angle-shaped connecting plate used for connecting the baffle, one end of the right-angle-shaped connecting plate is hinged with the baffle, so that the baffle can rotate in the sagittal plane, and the other end of the right-angle-shaped connecting plate is fixed with the lower end of the thigh plate through a fastening screw.
Preferably, the inner side of the shank plate is provided with a shank coupling device, the shank coupling device is positioned at the lower end of the shank plate and is fixedly connected with the shank plate, the main body structure is a bilateral symmetry half-mouth structure, and the shank coupling device is bound with the shank of a human body through a binding band on the shank coupling device, so that the high coupling performance of the shank and the human body in the walking and squatting processes is ensured.
Preferably, the lower extreme of extension spring sets up on the thigh board through first slip locking device, specifically is: the thigh plate is provided with a sliding track, the first sliding locking device is a locking knob, the lower end of the spring is fixedly connected to the locking knob, and the locking knob is arranged in the sliding track in a sliding mode, so that the spring has freedom degree of movement along the sliding track.
Preferably, the lower extreme of air spring rotates and sets up on the slider, the setting is established on the shank board to the slider slip cap, and slider locking device locates the slider below and the cover is located on the shank board, specifically is: the slider is hollow slider, the lower extreme of air spring rotates and sets up on the slider, the slider cover is established on the shank board, and slider locking device is for being equipped with lock nut's slider, carries on spacingly to the slider for the slider has the degree of freedom along shank board length direction motion.
Herein, when the human body is in the upright state, the tension spring is in the free state, when the human body performs the flexion and extension action in the sagittal plane, the hip joint rotation lever rotates along with the human body, the tension spring connected with the hip joint rotation lever is stretched, and when the human body bends, the tension spring is stretched to provide certain buffer force. When the human body is changed from the state of bending down to the state of standing up, the tension spring is restored to the original state, and a certain restoring force is provided for the standing up of the human body when the human body is bent down. In addition, the adjusting knob for adjusting the position of the tension spring can provide buffer force and restoring force with different sizes. The upper end and the lower end of the tension spring can rotate around the rotating lever and the adjusting knob shaft, so that the person is guaranteed not to be influenced in the vertical walking process.
In the method, the sliding stroke of the knee joint sliding block on the guide rail is set according to the angle change of the knee joint when a human body normally walks, so that the sliding block can slide on the guide rail when the human body vertically walks, the connected air spring is in a free state, the air spring does not play a role in supporting and assisting power, and the human body can normally vertically walk without being influenced. When the angle change of the knee joint exceeds the angle value during normal walking, the air spring plays a role in supporting and assisting power.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages: compared with the active power-assisted exoskeleton, the active power-assisted exoskeleton is compact in structure, small in self weight, free of driving and small in working noise; the main body structure is made of aluminum alloy and carbon fiber materials, so that the weight is light; the coupling binding device can enable a human body and the exoskeleton robot to have higher coupling degree, and the back protection pad and the binding belt on the back increase the wearing comfort and convenience of the exoskeleton robot, and the size is conveniently adjusted to adapt to wearing of people with different body sizes; the tension spring and the gas spring with better damping ratio are used as the passive energy storage device, so that the device is in a stable state in the process of bending and squatting; the design of the hip joint and the knee joint ensures that the invention does not block the human body when the human body normally walks, and only plays a role of supporting and assisting when the human body bends over to carry objects and works in a squatting way, thereby achieving the effect of reducing the load of the back and the knee joint of the human body.
Drawings
FIG. 1 is a front view of the overall structure of the present invention;
FIG. 2 is a side view of the overall structure of the present invention;
FIG. 3 is a rear view of the overall structure of the present invention;
FIG. 4 is a block diagram of the hip joint of the present invention
Wherein: 1. a back pad; 2. binding the binding belt; 3. a back connecting rod; 4. a back hip connecting shaft; 5. a hip joint housing; 6. a connecting plate; 7. A T-shaped knee joint connecting device; 8. a gas spring; 9. a shank plate; 10. a shank coupling device; 11. a slider locking device; 12. a slider; 13. A baffle plate; 14. locking the knob; 15. a lumbar coupling device; 16. rotating the lever; 17. a knee joint rotation axis; 18. a leg hip rotation axis; 19. a thigh panel; 20 tension springs.
Detailed Description
The invention is further described with reference to the following figures and examples:
the first embodiment is as follows: referring to fig. 1 to 4, a lower extremity exoskeleton for reducing loads of the back and the knee joint comprises a back support device, a hip support device, a leg support device and a knee device,
the back supporting device comprises a back protection pad 1, a binding belt 2 arranged on the back protection pad and two back connecting rods 3 arranged at the lower end of the back protection pad,
the hip supporting device comprises a rotating lever 16, the upper end of the rotating lever 16 is hinged with the back connecting rod 3 through a back hip connecting shaft 4, a leg hip connecting shaft 18 is arranged in the middle of the rotating lever 16,
the leg supporting device comprises a thigh plate 19 and a tension spring 20, the upper end of the thigh plate 19 is hinged with a leg hip connecting shaft 18, the upper end of the tension spring 20 is fixedly arranged at the lower end of the rotating lever 16, the lower end of the tension spring 20 is arranged on the thigh plate 19 through a first sliding locking device,
the knee device includes T type knee joint connecting device 7, knee joint rotation axis 17, air spring 8, slider 12, slider locking device 11 and shank board 9, the upper end of T type knee joint connecting device 7 is connected with thigh board 19's lower extreme, knee joint rotation axis 17 and shank board 9 hinged joint are passed through to T type knee joint connecting device 7's lower extreme, the upper end of air spring 8 and T type knee joint connecting device 7's protrusion end hinged joint, the lower extreme of air spring 8 rotates and sets up on slider 12, the setting is established on shank board 9 to slider 12 sliding sleeve, and slider locking device 11 locates slider 12 below and cover and locates on shank board 19.
In this embodiment, the inner side of the thigh plate 19 is fixedly provided with the waist coupling device 15, the waist coupling device is arranged on the upper portion of the thigh plate 19, the main structure is a bilaterally symmetrical 'half-square' -shaped aluminum alloy structure, and the binding band is bound with the human body through the binding band seam on the waist coupling device 15, so that the high coupling performance of the whole device and the human body is ensured.
In this embodiment, the outer side of the rotating lever 16 is provided with a hip joint housing 5, the hip joint housing 5 is located on the outer side of the thigh plate 19 and fixed with the thigh plate 19 through a fastening screw, the shape of the hip joint housing is an inverted triangle, and a square slideway is arranged in the middle of the hip joint housing, so that the locking knob can slide in the slideway and can be locked at any position of the slideway through the rotating knob.
In this embodiment, the thigh plate 19 is further provided with a thigh coupling device, which includes a baffle plate 13 disposed at the front side of the thigh, a bandage for binding the thigh, and a right-angle-shaped connecting plate 6 for connecting the baffle plate 13, wherein one end of the right-angle-shaped connecting plate 6 is hinged to the baffle plate 13, so that the baffle plate 13 can rotate in the sagittal plane, and the other end of the right-angle-shaped connecting plate is fixed to the lower end of the thigh plate 19 by a fastening screw.
In this embodiment, the inner side of the shank plate 9 is provided with a shank coupling device 10, the shank coupling device 10 is located at the lower end of the shank plate 9 and is fixedly connected with the shank plate, the main body structure is a half-mouth structure which is bilaterally symmetrical, and the shank coupling device is bound with the shank of the human body through the binding band, so that the high coupling performance between the shank and the human body in the walking and squatting processes is ensured.
In this embodiment, the lower end of the tension spring 14 is disposed on the thigh plate 19 through a first sliding locking device, specifically: be equipped with the slip track on the thigh board 19, first slip locking device is locking knob 14, the lower extreme fixed connection of extension spring 20 is on locking knob 14, and locking knob 14 slides and sets up in the slip track for extension spring 20 has the degree of freedom along the motion of slip track.
In this embodiment, the lower end of the gas spring 8 is rotatably disposed on the slider 12, the slider 12 is slidably sleeved on the lower leg plate 9, and the slider locking device 11 is disposed below the slider 12 and sleeved on the lower leg plate 19, specifically: slider 12 is hollow slider, the lower extreme of air spring 8 rotates and sets up on the slider, slider 12 cover is established on shank board 9, and slider locking device 11 is for being equipped with lock nut's slider, carries on spacingly to slider 12 for slider 12 has the degree of freedom along shank board 9 length direction motion.
The working principle of the invention is as follows: the tension spring and the gas spring are used as passive energy storage devices, when a human body bends over to carry objects and performs squatting operation, the gravitational potential energy of the human body and external devices is absorbed and stored by the tension spring and the gas spring, and a certain buffering effect is exerted on the human body; when the human body stands up upright, the tension spring and the gas spring release the stored energy, so as to play a certain power-assisting role for the human body.
Claims (7)
1. A lower extremity exoskeleton alleviating the load on the back and knee joints, characterized in that: comprises a back supporting device, a hip supporting device, a leg supporting device and a knee device,
the back supporting device comprises a back protection pad, a binding belt arranged on the back protection pad and two back connecting rods arranged at the lower end of the back protection pad,
the hip supporting device comprises a rotating lever, the upper end of the rotating lever is hinged with the back connecting rod through a back hip connecting shaft, the middle part of the rotating lever is provided with a leg hip connecting shaft,
the leg supporting device comprises a thigh plate and a tension spring, the upper end of the thigh plate is hinged with the leg hip connecting shaft, the upper end of the tension spring is fixedly arranged at the lower end of the rotating lever, the lower end of the tension spring is arranged on the thigh plate through a first sliding locking device,
the knee device includes T type knee joint connecting device, knee joint rotation axis, air spring, slider locking device and shank board, T type knee joint connecting device's upper end is connected with the lower extreme of shank board, T type knee joint connecting device's lower extreme passes through the knee joint rotation axis and is connected with shank board hinge, the upper end of air spring and T type knee joint connecting device's protrusion end hinged joint, the lower extreme of air spring rotates and sets up on the slider, the slider slip cap is established on the shank board, and slider locking device locates the slider below and overlaps and locate on the shank board.
2. The lower extremity exoskeleton of claim 1 wherein said lower extremity exoskeleton is configured to reduce loads on the back and knee joints by: the waist coupling device is fixedly arranged on the inner side of the thigh plate and is arranged on the upper portion of the thigh plate, the main body structure is of a bilateral symmetry 'half-square-shaped' aluminum alloy structure, and the binding band is bound with a human body through a binding band seam on the waist coupling device, so that the high coupling performance of the whole device and the human body is guaranteed.
3. The lower extremity exoskeleton of claim 1 wherein said lower extremity exoskeleton is configured to reduce loads on the back and knee joints by: the outer side of the rotating lever is provided with a hip joint outer shell, the hip joint outer shell is positioned on the outer side of the thigh plate and fixed with the thigh plate through fastening screws, the hip joint outer shell is in an inverted triangle shape, and a square slideway is arranged in the middle of the hip joint outer shell, so that the locking knob can slide in the slideway and can be locked at any position of the slideway through the rotating knob.
4. The lower extremity exoskeleton of claim 1 wherein said lower extremity exoskeleton is configured to reduce loads on the back and knee joints by: the thigh plate is also provided with a thigh coupling device which comprises a baffle arranged on the front side of the thigh, a bandage used for binding the leg part and a right-angle-shaped connecting plate used for connecting the baffle, wherein one end of the right-angle-shaped connecting plate is hinged with the baffle, so that the baffle can rotate in the sagittal plane, and the other end of the right-angle-shaped connecting plate is fixed with the lower end of the thigh plate through a fastening screw.
5. The lower extremity exoskeleton of claim 1 wherein said lower extremity exoskeleton is configured to reduce loads on the back and knee joints by: the inner side of the shank plate is provided with a shank coupling device, the shank coupling device is positioned at the lower end of the shank plate and is fixedly connected with the shank plate, the main structure is a bilateral symmetry half-mouth structure, and the shank coupling device is bound with the shank of a human body through a binding band on the shank coupling device, so that the high coupling performance of the shank and the human body in the walking and squatting processes is ensured.
6. The lower extremity exoskeleton of claim 1 wherein said lower extremity exoskeleton is configured to reduce loads on the back and knee joints by: the lower extreme of extension spring sets up on the thigh board through first slip locking device, specifically is: be equipped with the slip track on the thigh board, first slip locking device is the locking knob, the lower extreme fixed connection of extension spring is on the locking knob, and the locking knob slides and sets up in the slip track for the extension spring has the degree of freedom along the motion of slip track.
7. The lower extremity exoskeleton of claim 1 wherein said lower extremity exoskeleton is configured to reduce loads on the back and knee joints by: the slider is hollow slider, the lower extreme of air spring rotates and is connected with the straight-bar, the straight-bar is fixed to be set up on the slider, the slider cover is established on the shank board, and slider locking device is equipped with lock nut's slider, carries on spacingly to the slider for the slider has the degree of freedom along shank board length direction motion.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810327692.9A CN108247618B (en) | 2018-04-12 | 2018-04-12 | Lower limb exoskeleton capable of reducing load of back and knee joint |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810327692.9A CN108247618B (en) | 2018-04-12 | 2018-04-12 | Lower limb exoskeleton capable of reducing load of back and knee joint |
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| CN108247618A CN108247618A (en) | 2018-07-06 |
| CN108247618B true CN108247618B (en) | 2021-12-10 |
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Families Citing this family (10)
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| CN108942885B (en) * | 2018-07-23 | 2021-08-27 | 东北大学 | Wearable lower limb exoskeleton robot with hip joints |
| CN109227521B (en) * | 2018-10-16 | 2024-03-22 | 中国科学院苏州生物医学工程技术研究所 | Passive energy storage type gravity support lower limb exoskeleton |
| CN109318215B (en) * | 2018-12-06 | 2021-01-15 | 西安交通大学 | Waist exoskeleton robot |
| CN110328657B (en) * | 2019-08-12 | 2024-04-16 | 河北工业大学 | Flexible exoskeleton power-assisted robot |
| CN112294604B (en) * | 2020-10-13 | 2023-04-14 | 北京理工大学前沿技术研究院 | Unpowered whole-body type load bearing exoskeleton |
| CN114668633A (en) * | 2020-12-24 | 2022-06-28 | 沈阳新松机器人自动化股份有限公司 | Wearable weight-reduction supporting device |
| CN112545845B (en) * | 2020-12-25 | 2022-08-16 | 青岛大学附属医院 | Exoskeleton for medical rehabilitation |
| CN115488856A (en) * | 2021-06-17 | 2022-12-20 | 广州视源电子科技股份有限公司 | Passive lower limb exoskeleton |
| CN113858256B (en) * | 2021-08-30 | 2023-06-02 | 北京机械设备研究所 | Three-degree-of-freedom passive energy storage assisted exoskeleton hip joint |
| CN113927570A (en) * | 2021-10-13 | 2022-01-14 | 北京理工大学前沿技术研究院 | Power assembly of exoskeleton robot |
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