CN108938338B - Three-degree-of-freedom ankle joint device of exoskeleton robot - Google Patents
Three-degree-of-freedom ankle joint device of exoskeleton robot Download PDFInfo
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- CN108938338B CN108938338B CN201710369569.9A CN201710369569A CN108938338B CN 108938338 B CN108938338 B CN 108938338B CN 201710369569 A CN201710369569 A CN 201710369569A CN 108938338 B CN108938338 B CN 108938338B
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 72
- 210000002683 foot Anatomy 0.000 claims abstract description 59
- 238000004146 energy storage Methods 0.000 claims description 13
- 238000013016 damping Methods 0.000 claims description 12
- 238000005452 bending Methods 0.000 claims description 3
- 210000003371 toe Anatomy 0.000 claims 5
- 230000033001 locomotion Effects 0.000 abstract description 32
- 241000469816 Varus Species 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 210000003141 lower extremity Anatomy 0.000 description 6
- 241001227561 Valgus Species 0.000 description 5
- 230000002349 favourable effect Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 244000309466 calf Species 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 210000003041 ligament Anatomy 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 206010024453 Ligament sprain Diseases 0.000 description 1
- 208000010040 Sprains and Strains Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pain & Pain Management (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
The invention relates to an exoskeleton robot three-degree-of-freedom ankle joint device which comprises a leg connecting piece, a first swinging component, a second swinging component, a third swinging component and a foot supporting piece. The first swinging assembly comprises a first connecting piece and a first rotating shaft, the first rotating shaft extends along a first direction, and the first rotating shaft is rotationally connected with the leg connecting piece; the second swinging assembly comprises a second connecting piece and a second rotating shaft, the second rotating shaft extends along a second direction, and the second rotating shaft is rotationally connected with the first connecting piece; the third swinging assembly comprises a third connecting piece and a third rotating shaft, the third rotating shaft extends along a third direction, and the third rotating shaft is rotationally connected with the second connecting piece; the foot support is fixedly connected with the third connecting piece. The three-degree-of-freedom ankle joint device of the exoskeleton robot has a simple and compact structure, and can effectively simulate three degrees of freedom of the ankle joint of a human body, so that the three-degree-of-freedom ankle joint device can better adapt to the movement of the human body, and a wearer can move flexibly and conveniently.
Description
Technical Field
The invention relates to the technical field of exoskeleton robots, in particular to a three-degree-of-freedom ankle joint device of an exoskeleton robot.
Background
The ankle joint is an important joint of the lower limb part of the human body, and is also a load bearing joint of the human body closest to the ground. During walking, the ankle joint can coordinate the movement of the leg and the foot to realize the transfer of the gravity center of the human body, and the acting force of the ground on the foot also needs to be transmitted to the leg through the ankle joint. Because the ankle joint is always in a load state, sprain is easy to occur, and a mechanical ankle joint device is often adopted to protect the ankle joint or perform rehabilitation treatment in the military or medical field. The mechanical ankle joint device is used as an auxiliary instrument and is generally worn outside a human body to provide protection, support, assistance and exercise assisting functions for the human body.
The ankle joint of the human body has three rotational degrees of freedom, namely a toe flexion and dorsiflexion degree of freedom, an varus and varus degree of freedom and a varus and varus degree of freedom, which are mutually related, so that the flexibility of the motion of the human body is ensured. The common mechanical ankle joint device is limited by a mechanical structure, the simulation of the three degrees of freedom of rotation is difficult to realize, after the mechanical ankle joint device is worn, the movement is easy to cause, the flexibility is easy to cause, and the conventional mechanical ankle joint device can only meet the simple walking auxiliary function and has single function.
Disclosure of Invention
Based on the above, it is necessary to provide an exoskeleton robot three-degree-of-freedom ankle joint device for solving the problems of inconvenient movement and single function of a general mechanical ankle joint device.
An exoskeleton robot three degree of freedom ankle joint device comprising:
A leg connector;
The first swinging assembly comprises a first connecting piece and a first rotating shaft, the first rotating shaft extends along a first direction, the first connecting piece is fixedly connected with the first rotating shaft, the leg connecting piece is sleeved on the first rotating shaft, and the first rotating shaft is rotationally connected with the leg connecting piece;
The second swinging assembly comprises a second connecting piece and a second rotating shaft, the second rotating shaft extends along a second direction, the second connecting piece is fixedly connected with the second rotating shaft, the first connecting piece is sleeved on the second rotating shaft, and the second rotating shaft is rotationally connected with the first connecting piece;
The third swinging assembly comprises a third connecting piece and a third rotating shaft, the third rotating shaft extends along a third direction, the third connecting piece is fixedly connected with the third rotating shaft, the second connecting piece is sleeved on the third rotating shaft, and the third rotating shaft is rotationally connected with the second connecting piece; and
The foot support piece is fixedly connected with the third connecting piece.
In one embodiment, the second swing assembly further comprises an energy storage assembly, one end of the energy storage assembly is rotatably connected with the first connecting piece, and the other end of the energy storage assembly is rotatably connected with the second connecting piece; the energy storage component is used for driving the second connecting piece to reset.
In one embodiment, the energy storage component comprises a connecting rod, an elastic piece and a rod sleeve, one end of the connecting rod is rotationally connected with the first connecting piece, and the other end of the connecting rod is fixedly connected with the elastic piece; one end of the rod sleeve is sleeved on the connecting rod, and the other end of the rod sleeve is rotationally connected with the second connecting piece; the elastic piece is accommodated in the rod sleeve.
In one embodiment, the elastic piece comprises a first spring and a second spring, the first spring is sleeved on the connecting rod, one end of the first spring is abutted with the connecting rod, and the other end of the first spring is abutted with one end, close to the leg connecting piece, of the rod sleeve; one end of the second spring is abutted with the connecting rod, and the other end of the second spring is abutted with one end, far away from the leg connecting piece, of the rod sleeve.
In one embodiment, the second connecting piece is provided with a first limiting surface and a second limiting surface, and when the second rotating shaft rotates, the first limiting surface is abutted with the first connecting piece so as to limit the rotation range of the second rotating shaft; when the third rotating shaft rotates, the second limiting surface is abutted with the third connecting piece so as to limit the rotating range of the third rotating shaft.
In one embodiment, the first swing assembly further includes a first shaft sleeve and a thrust bearing, the leg connecting piece is sleeved on the first shaft sleeve, the first shaft sleeve is sleeved on the first rotating shaft, the first shaft sleeve is fixedly connected with the leg connecting piece, and the first shaft sleeve is rotatably connected with the first rotating shaft; the thrust bearing is sleeved on the first rotating shaft, one side of the thrust bearing is abutted with the first connecting piece, and the other side of the thrust bearing is abutted with the leg connecting piece.
In one embodiment, the first swing assembly further comprises a limiting piece, the limiting piece is fixedly connected with the leg connecting piece, a limiting groove is formed in the first connecting piece, and the limiting piece is accommodated in the limiting groove; when the first connecting piece rotates, the limiting piece can be abutted with the groove wall of the limiting groove so as to limit the rotation range of the first connecting piece.
In one embodiment, the second swing assembly further includes a damping member fixedly connected to the second rotating shaft and the first connecting member, respectively, and the damping member is capable of adjusting a rotation resistance of the second rotating shaft.
In one embodiment, the third swing assembly further includes a return member fixedly connected to the second and third connection members, respectively; when the third rotating shaft rotates, the return piece can drive the third rotating shaft to reset.
In one embodiment, the three-degree-of-freedom ankle joint device of the exoskeleton robot further comprises an angle sensor and a pressure sensor, wherein the angle sensor is fixedly connected with the first connecting piece and is used for detecting the rotation angle of the second rotating shaft; the pressure sensor is fixedly connected with the foot support and is used for detecting the pressure born by the foot support.
According to the three-degree-of-freedom ankle joint device of the exoskeleton robot, the leg connecting piece is used for being bound to the shank, and the foot supporting piece can support the foot, so that the three-degree-of-freedom ankle joint device of the exoskeleton robot is connected with a human body. Taking the extending direction of the lower leg as a first direction, wherein the extending direction of the first rotating shaft is the same as the first direction; taking the width extension direction of the foot as a second direction, wherein the extension direction of the second rotating shaft is the same as the second direction; the length extending direction of the foot is taken as a third direction, and the extending direction of the third rotating shaft is the same as the third direction. The first swinging component can simulate the degrees of freedom of inner and outer swinging, so that the feet can swing around the first rotating shaft; the second swinging component can simulate the freedom degree of dorsiflexion and dorsiflexion, so that the foot can swing around the second rotating shaft; the third swing assembly is capable of simulating an varus degree of freedom such that the foot is capable of swinging about the third axis of rotation. The three-degree-of-freedom ankle joint device of the exoskeleton robot has a simple and compact structure, and can effectively simulate three degrees of freedom of the ankle joint of a human body, so that the three-degree-of-freedom ankle joint device can better adapt to the movement of the human body, and a wearer can move flexibly and conveniently.
Drawings
FIG. 1 is a perspective view of an exoskeleton robot three degree of freedom ankle joint device in one embodiment;
FIG. 2 is a front view of the three degree of freedom ankle joint device of the exoskeleton robot of FIG. 1;
FIG. 3 is a right side view of the three degree of freedom ankle joint assembly of the exoskeleton robot of FIG. 1;
FIG. 4 is a cross-sectional view of the three degree of freedom ankle joint device of the exoskeleton robot shown in FIG. 3 taken along line A-A;
FIG. 5 is an exploded view of the three degree of freedom ankle joint assembly of the exoskeleton robot of FIG. 1;
FIG. 6 is a perspective view of a first link of the three degree of freedom ankle joint device of the exoskeleton robot of FIG. 1;
fig. 7 is a perspective view of a second connector of the three degree of freedom ankle joint device of the exoskeleton robot of fig. 1.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 and 2, in one embodiment, an exoskeleton robotic three degree of freedom ankle joint device 10 is used as an exoskeleton device for assisting in movement of the lower leg and foot. The exoskeleton robot three degree of freedom ankle joint device 10 includes a leg link 100, a first swing assembly 200, a second swing assembly 300, a third swing assembly 400, and a foot support 500. In one embodiment, foot support 500 is used to attach to the foot and leg connector 100 is used to attach to the calf, thereby connecting the entire exoskeleton robot three degree of freedom ankle joint 10 to the person.
Referring to fig. 3 and 4, in one embodiment, the extending direction of the lower leg is designated as a first direction, the extending direction of the sole width is designated as a second direction, and the extending direction of the sole length is designated as a third direction. The first swing assembly 200 includes a first connecting member 210 and a first rotating shaft 220, the first rotating shaft 220 extends along a first direction, the first connecting member 210 is fixedly connected with the first rotating shaft 220, the leg connecting member 100 is sleeved on the first rotating shaft 220, and the first rotating shaft 220 is rotatably connected with the leg connecting member 100. The second swinging assembly 300 includes a second connecting member 310 and a second rotating shaft 320, the second rotating shaft 320 extends along a second direction, the second connecting member 310 is fixedly connected with the second rotating shaft 320, the first connecting member 210 is sleeved on the second rotating shaft 320, and the second rotating shaft 320 is rotatably connected with the first connecting member 210. The third swinging assembly 400 includes a third connecting member 410 and a third rotating shaft 420, the third rotating shaft 420 extends along a third direction, the third connecting member 410 is fixedly connected with the third rotating shaft 420, the second connecting member 310 is sleeved on the third rotating shaft 420, and the third rotating shaft 420 is rotatably connected with the second connecting member 310. Foot support 500 is fixedly coupled to third link 410.
The three-degree-of-freedom ankle joint device 10 of the exoskeleton robot described above, the leg connector 100 is used for being tied to the calf, and the foot support 500 can support the foot so that the three-degree-of-freedom ankle joint device 10 of the exoskeleton robot is connected to the human body. The first swing assembly 200 is capable of simulating a yaw degree of freedom such that the foot is capable of swinging about the first pivot 220. The second swing assembly 300 is capable of simulating dorsiflexion degrees of freedom such that the foot is capable of swinging about the second axis of rotation 320. The third swing assembly 400 is capable of simulating an varus degree of freedom such that the foot is capable of swinging about the third pivot 420. The three-degree-of-freedom ankle joint device 10 of the exoskeleton robot has a simple and compact structure, and can effectively simulate three degrees of freedom of an ankle joint of a human body, so that the three-degree-of-freedom ankle joint device can better adapt to the movement of the human body, and a wearer can move flexibly and conveniently.
Referring to fig. 4 and 5, in an embodiment, the first swing assembly 200 further includes a first shaft sleeve 230 and a thrust bearing 240, the leg connector 100 is sleeved on the first shaft sleeve 230, the first shaft sleeve 230 is sleeved on the first rotating shaft 220, and the first shaft sleeve 230 is fixedly connected with the leg connector 100. In the embodiment shown in fig. 4, the first sleeve 230 and the leg connector 100 are fixedly connected into a whole by adopting an interference fit, and the connection structure is simple and reliable. The first shaft sleeve 230 is rotatably coupled to the first shaft 220. The thrust bearing 240 is sleeved on the first rotating shaft 220, in the embodiment shown in fig. 4, the upper end surface of the thrust bearing 240 abuts against the first connecting member 210, and the lower end surface of the thrust bearing 240 abuts against the leg connecting member 100. By providing the thrust bearing 240, it is advantageous to reduce the rotational resistance of the first rotating shaft 220, thereby facilitating the rotation of the first rotating shaft 220, and to use the thrust bearing 240 to bear the axial force of the first rotating shaft 220, so as to avoid the abrasion caused by the contact between the leg connector 100 and the first connector 210. In an embodiment, the first shaft sleeve 230 is made of a wear-resistant material, and by sleeving the first shaft sleeve 230 on the first shaft 220, the first shaft 220 can be prevented from directly rubbing against the leg connector 100, so that the leg connector 100 can be prevented from being worn.
Referring to fig. 5 and fig. 6, in an embodiment, the first swing assembly 200 further includes a limiting member 250, the limiting member 250 is fixedly connected with the leg connecting member 100, the first connecting member 210 is provided with a limiting groove 211, and the limiting member 250 is accommodated in the limiting groove 211. When the first connector 210 rotates, the limiting member 250 can abut against the groove wall of the limiting groove 211 to limit the rotation range of the first connector 210. Specifically, in one embodiment, the limiting member 250 is a limiting bolt fixedly coupled to the leg connector 100. A limiting groove 211 is formed in the surface, facing the limiting bolt, of the first connecting piece 210, and the lower end of the limiting bolt is accommodated in the limiting groove 211. When the first rotating shaft 220 rotates in a certain direction (e.g., clockwise) by a certain angle, the limit bolt is abutted against the groove wall of the limit groove 211, and the first rotating shaft 220 cannot rotate in the above direction any more. The rotation range of the first connector 210 can be limited by the limit bolts and the limit grooves 211. In an embodiment, the limiting groove 211 is an arc groove, the axis of the arc groove coincides with the axis of the first rotating shaft 220, and the rotation range of the first connecting piece 210 can be limited by setting the central angle of the arc groove.
It will be appreciated that the range of rotation of the first connector 210 may be set according to the range of rotation of the foot with respect to the calf, so that the exoskeleton device can simulate the ankle's swing-in and swing-out degrees of freedom as much as possible to improve the flexibility of movement of the person. In an embodiment, with respect to the center plane of the lower leg, by providing the limiting member 250 and the limiting groove 211, the first connecting member 210 can rotate 4 to 6 degrees to the left side (the side where the two tips are close to each other) of the center plane, and the first connecting member 210 can rotate 4 to 6 degrees to the right side (the side where the two tips are far from each other) of the center plane. Further, in an embodiment, the first connector 210 can be rotated 5 degrees to the left of the center plane, and the first connector 210 can be rotated 5 degrees to the right of the center plane. The rotating range is relatively close to the actual rotating range of the human ankle joint, so that the flexibility of human motion can be ensured, and the comfort level of human motion can be improved, so that the limitation of movement caused by wearing an exoskeleton is avoided. The setting of the limiting piece 250 and the limiting groove 211 can also prevent the ligament or the muscle tissue from being pulled due to the overlarge rotation range of the human ankle joint, so that the risk-avoiding effect on the movement of the human ankle joint can be realized.
In an embodiment, the second swing assembly 300 further includes a second shaft sleeve 330, the first connecting member 210 is sleeved on the second shaft sleeve 330, the second shaft sleeve 330 is sleeved on the second rotating shaft 320, and the second shaft sleeve 330 is fixedly connected with the first connecting member 210. In the embodiment shown in fig. 4, the second sleeve 330 and the first connector 210 are fixedly connected into a whole by adopting an interference fit, and the connection structure is simple and reliable. The second hub 330 is rotatably coupled to the second shaft 320. In an embodiment, the second shaft sleeve 330 is made of a wear-resistant material, and by sleeving the second shaft sleeve 330 on the second shaft 320, the second shaft 320 can be prevented from directly rubbing against the first connector 210, so that the first connector 210 can be prevented from being worn.
Referring to fig. 4 and 5, in an embodiment, the second swing assembly 300 further includes a damping member 340, the damping member 340 is fixedly connected with the second rotating shaft 320 and the first connecting member 210, respectively, and the damping member 340 can adjust the rotation resistance of the second rotating shaft 320. In an embodiment, the damping member 340 includes an outer disc 341 and an inner disc (not shown), the outer disc 341 is fixedly connected to the first connecting member 210, the inner disc is fixedly connected to the second rotating shaft 320, the distance between the outer disc 341 and the inner disc can be adjusted, and the frictional resistance between the outer disc 341 and the inner disc can be adjusted by adjusting the distance between the inner disc and the outer disc 341, that is, the resistance of the second rotating shaft 320 relative to the rotation of the first connecting member 210 can be adjusted by the damping member 340. The damping member 340 also functions to increase the transmission torque of the degree of freedom of dorsiflexion and dorsiflexion, and slow down the rotation speed of the second rotation axis 320, thereby slowing down the rotation speed of the foot around the second rotation axis 320. If the foot rotates about the second rotation axis 320 at too high a speed during use of the three degree of freedom ankle joint device 10 of the exoskeleton robot, the foot and the lower leg are likely to be impacted. By providing the damping member 340, the speed of the foot rotating around the second rotation axis 320 is slowed down, so that the three-degree-of-freedom ankle joint device 10 of the exoskeleton robot can bear more external force, and thus, damage to the human body can be avoided.
Referring to fig. 3, in an embodiment, the second swing assembly 300 further includes an energy storage assembly 350, one end of the energy storage assembly 350 is rotatably connected to the first connection member 210, and the other end of the energy storage assembly 350 is rotatably connected to the second connection member 310. Specifically, in one embodiment, the energy storage assembly 350 includes a link 351, an elastic member 352, and a rod housing 353, an upper end of the link 351 is rotatably connected to the first connector 210, and a lower end of the link 351 is fixedly connected to the elastic member 352. One end of the rod sleeve 353 is sleeved on the connecting rod 351, the other end of the rod sleeve 353 is rotatably connected with the second connecting piece 310, and the elastic piece 352 is accommodated in the rod sleeve 353. In one embodiment, the upper end of the elastic member 352 is fixedly connected to the lower end of the link 351, and the lower end of the elastic member 352 is fixedly connected to the rod cover 353. When the second rotating shaft 320 rotates, the connecting rod 351 can stretch or compress the elastic member 352, and the restoring force generated by the elastic member 352 can make the second connecting member 310 return to the initial state (the free state of the elastic member 352). In another embodiment, the upper end of the elastic member 352 is fixedly connected with the connecting rod 351, the lower end is abutted with the rod sleeve 353, and when the heel is lifted, the elastic member 352 is compressed to generate restoring force and store energy; when the heel is put down, the elastic member 352 releases energy by the restoring force and returns to the free state, and the second connecting member 310 returns to the original state. Through energy storage assembly 350, on the one hand can slow down the impact of human ankle joint of ground in the motion process in order to protect human ankle joint, on the other hand is favorable to the human ankle joint to reply to natural state as soon as possible to improve flexibility and the comfort level of human motion.
Referring to fig. 3, in an embodiment, the elastic member 352 includes a first spring 3521 and a second spring 3523, the first spring 3521 is sleeved on the connecting rod 351, and the lower end of the first spring 3521 abuts against the connecting rod 351, and the upper end of the first spring 3521 abuts against one end of the rod sleeve 353 near the leg connector 100. The upper end of the second spring 3523 abuts the link 351, and the lower end of the second spring 3523 abuts an end of the rod sleeve 353 remote from the leg connector 100. In one embodiment, when both the first spring 3521 and the second spring 3523 are in a free state, the foot support 500 is in a horizontal state. In one embodiment, the stiffness coefficient of the first spring 3521 is different from the stiffness coefficient of the second spring 3523. In one embodiment, the stiffness coefficient of the second spring 3523 is less than the stiffness coefficient of the first spring 3521, and in the embodiment of fig. 3, the first spring 3521 is compressed when the second connector 310 rotates in a counter-clockwise direction; when the second link 310 rotates in the clockwise direction, the second spring 3523 is compressed; since the stiffness coefficient of the second spring 3523 is smaller than that of the first spring 3521, the return speed of the second connector 310 in the clockwise direction is greater than that in the counterclockwise direction.
Specifically, during use, with reference to the heel, when the toe is depressed, the second spring 3523 is compressed; when the toe lifts, the first spring 3521 is compressed. Since the stiffness coefficient of the second spring 3523 is smaller than that of the first spring 3521, the toe-up state is reset faster than the toe-down state. By providing the first spring 3521 and the second spring 3523, and making the stiffness coefficient of the first spring 3521 greater than the stiffness coefficient of the second spring 3523, the resistance of the first spring 3521 can be applied when the toe lifts, and the resistance of the second spring 3523 can be applied when the toe sinks. The structure is beneficial to keeping the feet in a horizontal state on one hand and preventing the feet from swinging clockwise or anticlockwise in the movement process. On the other hand, because the toe is lifted and corresponds to the state that the center of gravity moves forward in the advancing process of the human body, and the toe is sunk and corresponds to the state that the center of gravity of the human body moves backward, when the stiffness coefficient of the first spring 3521 is larger than that of the second spring 3523, the resistance of the first spring 3521 received in the advancing state is larger than that of the second spring 3523 in the backward moving state, so that the balance of the human body in the advancing process is maintained, the condition that the human body shakes due to the change of the center of gravity in the moving process is prevented, and the stability and the comfort of the movement are improved.
Referring to fig. 3 and 4, in an embodiment, the third swing assembly 400 further includes a return member 430, and the return member 430 is fixedly connected with the second connection member 310 and the third connection member 410, respectively. When the third rotating shaft 420 rotates, the return member 430 can drive the third rotating shaft 420 to return. Specifically, in an embodiment, the return member 430 is an elastic plate, and the elastic plates are mounted on both sides of the third rotating shaft 420. When the third rotating shaft 420 rotates, the elastic plate deforms to generate a restoring force, so as to drive the third rotating shaft 420 to return. Because the elastic plates are installed on both sides of the third rotating shaft 420, when the foot performs varus or valgus motion, the deformation of the elastic plates is favorable for the foot to return to a natural state (namely, the foot plate is in a horizontal state), and the elastic plates can play a role in buffering the valgus or valgus motion of the foot so as to prevent the valgus or valgus motion from being too large in angle and causing the strain of ligaments or muscle tissues, thereby effectively protecting the ankle joints of a human body.
In one embodiment, the three-degree-of-freedom ankle joint device 10 of the exoskeleton robot further includes an angle sensor (not shown) fixedly connected to the first connector 210, and a pressure sensor (not shown) for detecting a rotation angle of the second shaft 320. A pressure sensor is fixedly coupled to the foot support 500 for detecting the pressure experienced by the foot support 500. In an embodiment, the three-degree-of-freedom ankle joint device 10 of the exoskeleton robot is a part of a lower limb exoskeleton device (not shown), the lower limb exoskeleton device is connected with a controller, an angle sensor and a pressure sensor can detect the use state of the three-degree-of-freedom ankle joint device 10 of the exoskeleton robot, and the rotation angle parameter of the second rotating shaft 320 and the pressure parameter received by the foot support 500 are sent to the controller, and after receiving detection signals of the angle sensor and the pressure sensor, the controller can adjust the driving mechanism of the lower limb exoskeleton in real time, so that the state of the lower limb exoskeleton device can be adjusted, the movement coordination of the lower limb exoskeleton can be ensured, and the flexibility of the movement of the human body can be improved while the human body is effectively protected.
Referring to fig. 7, in an embodiment, the second connecting member 310 is provided with a first limiting surface 311 and a second limiting surface 313. Referring to fig. 5, when the second shaft 320 rotates, the first limiting surface 311 can abut against the first connecting member 210 to limit the rotation range of the second shaft 320. When the third rotating shaft 420 rotates, the second limiting surface 313 can abut against the third connecting piece 410 to limit the rotation range of the third rotating shaft 420. In an embodiment, the first limiting surfaces 311 are inclined surfaces, and two first limiting surfaces 311 are respectively located at two sides of the second rotating shaft 320, when the second rotating shaft 320 rotates by a certain angle, the first limiting surfaces 311 abut against the first connecting piece 210, the second rotating shaft 320 stops rotating, and the first limiting surfaces 311 limit the rotating range of the second rotating shaft 320. In one embodiment, the rotation range of the second shaft 320 corresponds to the rotation range of the foot during dorsiflexion/dorsiflexion movements of the foot. Specifically, in one embodiment, with a plane perpendicular to the extending direction of the lower leg as a reference plane, when the toe is sunk (toe bending movement) to 32-37 degrees between the plane of the foot plate and the reference plane, the first limiting surface 311 abuts against the first connector 210; when the toe is lifted (back extending) to 48-52 degrees relative to the plane of the foot plate, the first limiting surface 311 is abutted against the first connecting piece 210. Further, in an embodiment, when the toe is sunk to 35 degrees between the plane of the foot plate and the reference surface, the first limiting surface 311 abuts against the first connecting piece 210; when the toe is lifted to the position where the plane of the foot plate is 50 degrees from the reference plane, the first limiting surface 311 abuts against the first connecting piece 210. The above-mentioned rotation range is close to the actual rotation range of human ankle joint in the motion process of dorsiflexion and extension of toe, so that the setting of first limiting surface 311 is favorable to improving the flexibility of human motion on the one hand to prevent that human motion from being restricted, on the other hand also can prevent that ankle joint toe from bending dorsiflexion and extension rotation range is too big thereby playing the risk-avoiding effect to the ankle joint.
In an embodiment, the structure and the function principle of the second limiting surface 313 are similar to those of the first limiting surface 311, and will not be described herein. In an embodiment, the plane of the foot board is taken as a reference plane, when the foot board is turned outwards to be 28-32 degrees with the reference plane, the second limiting surface 313 is abutted against the third connecting piece 410, and when the foot board is turned inwards to be 28-32 degrees with the reference plane, the second limiting surface 313 is abutted against the third connecting piece 410, so that the turning range of the foot board turned inwards or outwards is limited. Further, in an embodiment, when the foot plate is turned out to be 30 degrees with respect to the reference surface, the second limiting surface 313 abuts against the third connecting member 410, and when the foot plate is turned in to be 30 degrees with respect to the reference surface, the second limiting surface 313 abuts against the third connecting member 410. The above-mentioned rotation range is close to the actual rotation range of human ankle joint in the inside and outside turning motion process, therefore the setting of second limiting surface 313 is favorable to improving the flexibility of human motion on the one hand to prevent that human motion from being restricted, on the other hand also can prevent that the inside and outside turning motion range of ankle joint is too big thereby plays the risk-avoiding effect to the ankle joint. By providing the first limiting surface 311 and the second limiting surface 313, the rotation range of the second rotating shaft 320 and the third rotating shaft 420 can be limited, so that the movement flexibility of the ankle joint device can be improved, and the ankle joint of a human body can be well protected.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. An exoskeleton robot three degree of freedom ankle joint device, comprising:
A leg connector;
the first swinging assembly can simulate the degrees of freedom of inner and outer swinging, and comprises a first connecting piece and a first rotating shaft, wherein the first rotating shaft extends along a first direction, the first connecting piece is fixedly connected with the first rotating shaft, the leg connecting piece is sleeved on the first rotating shaft, and the first rotating shaft is rotationally connected with the leg connecting piece;
The second swinging assembly can simulate the degree of freedom of toe bending and back stretching and comprises a second connecting piece and a second rotating shaft, the second rotating shaft extends along a second direction, the second connecting piece is fixedly connected with the second rotating shaft, the first connecting piece is sleeved on the second rotating shaft, and the second rotating shaft is rotationally connected with the first connecting piece;
the third swinging assembly can simulate the degree of freedom of internal and external turning, and comprises a third connecting piece and a third rotating shaft, wherein the third rotating shaft extends along a third direction, the third connecting piece is fixedly connected with the third rotating shaft, the second connecting piece is sleeved on the third rotating shaft, and the third rotating shaft is rotationally connected with the second connecting piece; and
The foot support piece is fixedly connected with the third connecting piece;
The second swinging assembly further comprises an energy storage assembly, the energy storage assembly comprises a connecting rod, an elastic piece and a rod sleeve, one end of the connecting rod is rotationally connected with the first connecting piece, and the other end of the connecting rod is fixedly connected with the elastic piece; one end of the rod sleeve is sleeved on the connecting rod, and the other end of the rod sleeve is rotationally connected with the second connecting piece; the elastic piece is accommodated in the rod sleeve; the energy storage component is used for driving the second connecting piece to reset;
The elastic piece comprises a first spring and a second spring, the stiffness coefficient of the second spring is smaller than that of the first spring, the first spring is sleeved on the connecting rod, the lower end of the first spring is abutted with the connecting rod, and the upper end of the first spring is abutted with one end, close to the leg connecting piece, of the rod sleeve; the upper end of the second spring is abutted with the connecting rod, and the lower end of the second spring is abutted with one end, far away from the leg connecting piece, of the rod sleeve;
The second connecting piece is provided with a first limiting surface and a second limiting surface, and when the second rotating shaft rotates, the first limiting surface is abutted with the first connecting piece so as to limit the rotation range of the second rotating shaft; when the third rotating shaft rotates, the second limiting surface is abutted with the third connecting piece so as to limit the rotating range of the third rotating shaft;
The first swinging assembly further comprises a first shaft sleeve and a thrust bearing, the leg connecting piece is sleeved on the first shaft sleeve, the first shaft sleeve is sleeved on the first rotating shaft, the first shaft sleeve is fixedly connected with the leg connecting piece, and the first shaft sleeve is rotationally connected with the first rotating shaft; the thrust bearing is sleeved on the first rotating shaft, one side of the thrust bearing is abutted with the first connecting piece, and the other side of the thrust bearing is abutted with the leg connecting piece;
When the second connecting piece rotates in the direction of lifting the toes by taking the heels as a reference, the first spring is compressed; when the second connecting piece rotates towards the sinking direction of the toe, the second spring is compressed.
2. The three degree of freedom ankle joint device of exoskeleton robot of claim 1, wherein the first swing assembly further comprises a limiting member fixedly connected with the leg connecting member, wherein a limiting groove is formed in the first connecting member, and the limiting member is accommodated in the limiting groove; when the first connecting piece rotates, the limiting piece can be abutted with the groove wall of the limiting groove so as to limit the rotation range of the first connecting piece.
3. The exoskeleton robot three degree of freedom ankle joint device of claim 1 wherein the second swing assembly further comprises a damping member fixedly connected with the second shaft and the first connecting member, respectively, the damping member adjusting a rotational resistance of the second shaft.
4. The three degree of freedom ankle joint device of claim 3 wherein the damping member comprises an outer disc and an inner disc, the outer disc being fixedly connected to the first connecting member, the inner disc being fixedly connected to the second rotating shaft, the distance between the outer disc and the inner disc being adjustable to adjust the frictional resistance between the outer disc and the inner disc.
5. The exoskeleton robot three degree of freedom ankle joint device of claim 1 wherein the third swing assembly further comprises a return member fixedly connected to the second and third connection members, respectively; when the third rotating shaft rotates, the return piece drives the third rotating shaft to reset.
6. The three degree of freedom ankle joint device of exoskeleton robot of claim 5 wherein the return member is an elastic plate, and the elastic plates are mounted on both sides of the third rotating shaft.
7. The exoskeleton robot three degree of freedom ankle joint device of claim 1, further comprising an angle sensor and a pressure sensor, wherein the angle sensor is fixedly connected with the first connecting piece, and the angle sensor is used for detecting a rotation angle of the second rotating shaft; the pressure sensor is fixedly connected with the foot support and is used for detecting the pressure born by the foot support.
8. The three degree of freedom ankle joint device of exoskeleton robot of claim 1 wherein the first limiting surfaces are inclined surfaces, two of the first limiting surfaces are located on two sides of the second rotating shaft respectively.
9. The exoskeleton robot three degree of freedom ankle joint device of claim 8, wherein a plane perpendicular to the extending direction of the lower leg is taken as a reference plane;
When the toe is sunk to the position that the plane of the foot plate is 32-37 degrees with the reference surface, the first limiting surface is abutted with the first connecting piece; when the toe is lifted to the position where the plane of the foot plate is 48-52 degrees with the reference surface, the first limiting surface is abutted with the first connecting piece.
10. The exoskeleton robot three degree of freedom ankle joint device of claim 1, wherein the foot plate plane is used as a reference plane;
When the foot plate is turned outwards to be 28-32 degrees with the reference surface, the second limiting surface is abutted against the third connecting piece; when the foot plate is turned inwards to be 28-32 degrees relative to the reference surface, the second limiting surface is abutted against the third connecting piece.
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| CN201710369569.9A CN108938338B (en) | 2017-05-23 | 2017-05-23 | Three-degree-of-freedom ankle joint device of exoskeleton robot |
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| FR3098142B1 (en) * | 2019-07-02 | 2021-07-30 | Safran Electronics & Defense | Compact device intended to be positioned near a joint and general system comprising such a compact device |
| CN113084862B (en) * | 2021-04-23 | 2021-12-14 | 中国科学院深圳先进技术研究院 | Exoskeleton robot ankle joint with three flexible driving branches |
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