CN109176597A - A kind of ectoskeleton dynamic knee joint structure - Google Patents

A kind of ectoskeleton dynamic knee joint structure Download PDF

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Publication number
CN109176597A
CN109176597A CN201811377495.4A CN201811377495A CN109176597A CN 109176597 A CN109176597 A CN 109176597A CN 201811377495 A CN201811377495 A CN 201811377495A CN 109176597 A CN109176597 A CN 109176597A
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CN
China
Prior art keywords
block
knee joint
spring
fixed
bearing
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CN201811377495.4A
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Chinese (zh)
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CN109176597B (en
Inventor
朱爱斌
宋纪元
屠尧
沈皇
申志涛
郑威豪
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Xian Jiaotong University
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Xian Jiaotong University
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Priority to CN201811377495.4A priority Critical patent/CN109176597B/en
Publication of CN109176597A publication Critical patent/CN109176597A/en
Application granted granted Critical
Publication of CN109176597B publication Critical patent/CN109176597B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0258Two-dimensional joints
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0006Exoskeletons, i.e. resembling a human figure
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126Rotary actuators

Abstract

The invention discloses a kind of ectoskeleton dynamic knee joint structures; the kneed flexion and extension being driven using slider-crank mechanism principle; elastic slide block component is driven to be slided along screw rod direction using the rotation of screw rod; the Flexible Transmission mode for flexible drive of connecting is formed between sliding block and knee joint rotor; in effect of the output end by extraneous power; it can go to strain in the form of highly dynamic; protection mechanism accurately controls output of the flexion and extension to the power of human body to reduce impact of the uncertain environment to its power.Kneed flexion and extension is slider-crank mechanism, linear springs in transmission chain, enable mechanism is flexible externally to drive, elastomer is introduced, when which carries out flexion and extension, the process compressed and discharged there are spring, therefore overload energy can be stored in will spring, and is discharged when spring restPoses, power-actuated peak power can be reduced, keep capable output gentler, greatly improves power-assisted efficiency.

Description

A kind of ectoskeleton dynamic knee joint structure
Technical field
The invention belongs to mechanical joint unit fields, and in particular to a kind of ectoskeleton dynamic knee joint structure.
Background technique
The a part of the knee joint of ectoskeleton as assistance exoskeleton, the motion of knee joint of predominantly outer wearer provide dynamic Power, traditional ectoskeleton knee joint mainly consider that curling up for people leg stretches the freedom degree of movement, after motor and retarder series connection The scheme being directly connected to execution part does not account for the movement of the other freedom degrees of human body knee joint, ectoskeleton knee joint part Rigidity is big, not submissive, limits the flexibility and comfort level of wearer;It is general using the linear kneed mode of driving simultaneously It is hinged between thigh and shank for linear motor, bulky, electromechanical structure is not compact enough.
Summary of the invention
The purpose of the present invention is to provide a kind of ectoskeleton dynamic knee joint structures, with overcome the deficiencies in the prior art.
In order to achieve the above objectives, the present invention adopts the following technical scheme:
A kind of ectoskeleton dynamic knee joint structure, including thigh connection sleeve, support phase shock-damping structure, knee joint bend and stretch it is dynamic Power structure and shank connecting pin;
Knee joint bends and stretches the left side that dynamic structure includes knee joint rotor and is set at left and right sides of knee joint rotor Shell and right shell body, knee joint rotor are respectively arranged on the left side and the right side a rotation connection axis, and left shell and right shell body are equipped with Shaft connecting hole, knee joint rotor are connect with the shaft connecting hole of left shell and right shell body by bearing;Left shell and right shell Motor fixing plate is fixed between body, motor fixing plate is fixedly arranged at the front end with motor, and the rear end of motor fixing plate is fixed with straight line Sliding rail, line slide rail are equipped with the sliding block of cooperation sliding, are fixedly connected with elastic slide block component on sliding block;After motor fixing plate End upper and lower ends fix a bearing block respectively, are equipped with screw rod between two bearing blocks, pass through bearing between screw rod and bearing block Rotation connection, one end of screw rod are fixed with synchronous pulley, and the output synchronous pulley and synchronous pulley at motor output shaft end pass through same Walk V belt translation;Elastic slide block component and screw rod are by being threadedly engaged transmission;Knee joint rotor circumferential side wall be equipped with for branch The connecting cylinder of phase shock-damping structure connection is supportted, knee joint rotor and connecting cylinder opposite side are equipped with eccentric connecting hole;Elasticity The connecting rod for capableing of the rotation of relative resilient slide block assembly is connected on slide block assembly, one end of connecting rod and eccentric connecting hole pass through shaft Connection;Left shell and right shell body are located at knee joint rotor lower end and set there are two two shell fixed plates being oppositely arranged, and two The inside and outside rotation torsional elastic body in leg is fixed between shell fixed plate, the inside and outside rotation torsional elastic body lower end in leg is fixed with shank company Connect end;
Support phase shock-damping structure includes air damping spring lever and optical axis seat, and optical axis cover for seat, which is set, to be fixed on outside connecting cylinder Side;Air damping spring lever one end is fixedly connected with connecting cylinder, and the other end connect sleeve one end with thigh and is fixedly connected;Thigh The other end of connection sleeve with thigh parts for connecting.
Further, the inside and outside rotation torsional elastic body in leg includes the transfer block being fixed between two shell fixed plates, is turned It connects block lower end and is fixed with rotation seat, rotation seat lower end is equipped with groove, is equipped with bearing mounting groove and multiple bullets in the groove of rotation seat Spring limited block, the interior rolling bearing and needle thrust bearing for being equipped with mutually nested setting of bearing mounting groove, multiple spring retainer blocks It further include the Spring Card block with rotation seat coaxial cooperation, Spring Card block is equipped in the groove circumference of rotation seat Spring fixture block identical with rotation seat inner spring limit number of blocks, is equipped with compressed spring between spring fixture block and spring retainer block, Pass through coaxially connected bar or connection shaft connection between rotation seat and Spring Card block.
Further, four spring retainer blocks are specifically all provided in the groove circumference of rotation seat, it is corresponding in bullet Four spring fixture blocks are set on spring fixture block seat, form the spring for placing compressed spring between spring fixture block and spring retainer block Chamber;Rolling bearing and needle thrust bearing and rotation seat coaxial cooperation.
Further, elastic slide block component includes the sliding block pinboard being fixedly connected with a slide block, sliding block pinboard upper and lower two End is respectively fixed with a slide block structure plate, and multiple optical axises being vertically arranged, nut block are fixed between two slide block structure plates It is fixed on the side of sliding block pinboard, nut block is located between two slide block structure plates, and nut block is equipped with and passes through for optical axis Through-hole and for screw rod cooperation sliding threaded hole;The optical axis of part between the top and bottom and slide block structure plate of nut block On be arranged with spring;The both ends of spring are contacted with nut block surface and slide block structure plate respectively;The two sides of two slide block structure plates A sliding block side plate, sliding block side plate and connecting rod has been respectively fixedly connected with to be rotatablely connected by rotation axis.
Further, connecting rod is Y type connecting rod, and the side of two blocks of sliding block side plates is provided with flange bearing, the one of Y type connecting rod End and the concentric cooperation of flange bearing, the other end of Y type connecting rod and an eccentric orfice of knee joint rotor pass through bearing hinge connection.
Further, it is set between two slide block structure plates there are four optical axis, nut block is a cuboid characteristic block, spiral shell The middle position of mother tuber is arranged threaded hole, and threaded hole is uniformly distributed on peripheries with four for through-hole that optical axis passes through;In nut block Heart threaded hole and the centre bore of slide block structure plate are co-axially mounted, and four through-holes of nut block and four light shaft coaxles cooperate, spiral shell By 8 spring connections between the upper and lower surface and slide block structure plate of mother tuber, spring divides equally the two sides in nut block and and optical axis Coaxial cooperation.
Further, it is connected between screw rod and bearing block by flange bearing, the both ends stepped end of screw rod is in flange bearing Middle cooperation, screw rod and line slide rail are arranged in parallel.
Further, motor fixing plate is fixedly arranged at the front end with motor fixed block, and motor fixed block is equipped with output shaft hole, electricity Machine is fixed on motor fixing plate by motor fixed ring, and the output shaft of motor passes through the output shaft hole of motor fixed block;Motor The front end of fixed plate refers to motor fixing plate far from knee joint rotor side.
Further, knee joint rotor is hollow eccentric body, the extended line and knee joint of connecting cylinder axis direction The rotor centre of gyration is non-intersecting.
Further, it is fixed with linear bearing seat on the outside of thigh connection sleeve, linear bearing seat is equipped with multiple lower sliders Hole, optical axis seat are equipped with multiple upper sliding eyes corresponding with lower slider hole in linear bearing seat, lower slider hole and upper sliding eye Between be equipped with guiding optical axis.
Compared with prior art, the invention has the following beneficial technical effects:
A kind of ectoskeleton dynamic knee joint structure of the present invention, is driven kneed using slider-crank mechanism principle Flexion and extension is driven between motor and screw rod using synchronizing wheel synchronous belt mode, and the rotation of screw rod drives elastic slide block component edge Screw rod direction is slided, hinged using connecting rod between sliding block and knee joint rotor, therefore knee can be driven in the rotation of motor The angle change in joint, it is compact-sized, and since elastomer is connected in entire transmission chain, form series connection flexible drive Flexible Transmission mode can go to strain in the form of highly dynamic, protection mechanism in effect of the output end by extraneous power To reduce impact of the uncertain environment to its power, that is, accurately control output of the flexion and extension to the power of human body.It is kneed Flexion and extension is slider-crank mechanism, the linear springs in transmission chain, enables mechanism is flexible externally to drive, in human-computer interaction The impact for neutralizing ectoskeleton resistance in motion process in circumstances not known facilitates ectoskeleton to carry out the control of power, is ectoskeleton Shared control and man-machine servo antrol lay the foundation on hardware.In terms of energy loss, due to introducing elastomer, the machine When structure carries out flexion and extension, the process compressed and discharged there are spring, therefore overload energy can be stored in will spring, and It is discharged when spring restPoses, power-actuated peak power can be reduced, keep capable output gentler, significantly Improve power-assisted efficiency.
Further, it is driven between motor and screw rod using synchronizing wheel synchronous belt mode, the rotation of screw rod drives nut block It is slided along screw rod direction, elastic connection is carried out using spring between the sliding block in nut block and sliding rail, flexible drive of connecting Flexible Transmission mode, guarantee transmission stationarity.
Further, the sleeve portion connecting with thigh end is connected with air damping pipe, when this device is installed in When ectoskeleton leg, when foot lands every time in the body gait period, i.e., support phase, air damping pipe can be vertical in leg It is compressed on direction, plays the role of buffering, slowed down rigidity of the assistance exoskeleton entirety leg mechanism by ground in face of it and rush It hits.The concatenated air damping spring of thigh sleeve end may make the ectoskeleton of weight bearing to subtract when each foot lands in body gait Rigid shock caused by delaying because of weight inertia between ectoskeleton leg and ground, dynamic protection assistance exoskeleton overall mechanism.
Further, it is designed at shank connecting pin inside and outside leg and revolves torsional elastic body, to reduce ectoskeleton to human leg The constraint of the freedom of motion of the inward turning and outward turning in portion.Elastic torsion mechanism is mainly by two torsion block coaxial cooperations, two torsions Be attached in both direction clockwise and anticlockwise between switch block by four linear springs so that when ectoskeleton leg by When to inward turning and the motoring torque of outward turning, torsion block can carry out the interior outward turning campaign progress servo rotary movement with human leg, Without by start angle position can be resiliently returned to when twisting resistance due to spring.Shank end connects elastic torsion block, increases Torsional freedom, it is submissive when human body dresses ectoskeleton so that ectoskeleton leg can reverse with the movement of people's leg inward turning outward turning Property and comfort are improved.
Detailed description of the invention
Fig. 1 is ectoskeleton dynamic knee joint structure overall structure diagram of the present invention;
Fig. 2 is ectoskeleton dynamic knee joint flexion and extension state display diagram of the present invention;
Fig. 3 is ectoskeleton dynamic knee joint mounting connection structure schematic diagram of the present invention;
Fig. 4 is ectoskeleton dynamic knee joint Structure explosion diagram of the present invention;
Fig. 5 is support phase shock-damping structure schematic diagram;
Fig. 6 is eccentric knee joint rotor structural schematic diagram;
Fig. 7 is that knee joint bends and stretches dynamic structure schematic diagram;
Fig. 8 is partial enlargement diagram in Fig. 7;
Fig. 9 is elastic slide block explosive view;
Figure 10 is inward turning outward turning twist mechanism structural schematic diagram;
Figure 11 is inside and outside to revolve torsional elastic body sectional view.
Wherein, 1, thigh connection sleeve, 2, linear bearing lid, 3, linear bearing, 4, linear bearing seat, 5, guiding optical axis, 6, optical axis seat, 7, knee joint rotor, 8, bearing, 9, encoder fixing seat, 10, left shell, 11, shell fixed plate, 12, coding Device output shaft adapter flange, 13, pinboard, 14, rotation seat, 15, compressed spring, 16, rolling bearing, 17, needle roller thrust bearing, 18, Spring Card block, 19, shank connecting pin, 20, big synchronizing wheel, 21, small synchronizing wheel, 22, synchronous belt, 23, nut block, 24, electricity Machine fixed block, 25, sliding block side plate, 26, motor, 27, connecting rod, 28, motor fixing plate, 29, straight line side's sliding rail, 30, motor encoder Device, 31, screw rod, 32, right shell body, 33, rolling bearing, 34, absolute type encoder;35, air damping spring, 36, flange bearing, 37, sliding block, 38, sliding block pinboard, 39, spring, 40, washer, 41, optical axis, 42, slide block structure plate;43, bolt;44, rotation connects Outbound;45, flange bearing, 46, motor retainer plate, 47, bearing block.
Specific embodiment
The invention will be described in further detail with reference to the accompanying drawing:
A kind of ectoskeleton dynamic knee joint structure of the present invention, as connection assistance exoskeleton robot thigh and shank it Between a part;The overall structure of ectoskeleton dynamic knee joint structure is as shown in Figure 1;Sleeve, support phase are connected including thigh Shock-damping structure, knee joint bend and stretch dynamic structure, revolve torsional elastic body and shank connecting pin 19 inside and outside leg;
As shown in Figure 7, Figure 8, knee joint bend and stretch dynamic structure include knee joint rotor 7 and be set to knee joint rotation The left shell 10 and right shell body 32 of 7 left and right sides of body, knee joint rotor 7 are respectively arranged on the left side and the right side a rotation connection axis, Left shell 10 and right shell body 32 are equipped with shaft connecting hole, knee joint rotor 7 and left shell 10 and the shaft of right shell body 32 connects Hole is connect to connect by bearing 8;Motor fixing plate 28, motor fixing plate 28 or so two are fixed between left shell 10 and right shell body 32 Side is fixedly connected with left shell 10 and right shell body 32 respectively, and motor fixing plate 28 is fixedly arranged at the front end with motor 26, motor fixing plate 28 rear end is fixed with line slide rail 29, and line slide rail 29 is equipped with the sliding block 37 of cooperation sliding, is fixedly connected on sliding block 37 Elastic slide block component;The rear end upper and lower ends of motor fixing plate 28 fix a bearing block 47 respectively, between two bearing blocks 47 Equipped with screw rod 31, it is rotatablely connected between screw rod 31 and bearing block 47 by bearing, one end of screw rod 31 is fixed with big synchronizing wheel 20, The small synchronizing wheel 21 of the output of 26 output shaft end of motor is driven with big synchronizing wheel 20 by synchronous belt 22;It is fixed in elastic slide block component There is the nut block 23 of the opposite transmission sliding with screw rod 31;7 circumferential side wall of knee joint rotor is equipped with for connecting sleeve with thigh The connecting cylinder of connection, knee joint rotor 7 and connecting cylinder opposite side are equipped with eccentric connecting hole;Connect on elastic slide block component It is connected to the connecting rod 27 for capableing of the rotation of relative resilient slide block assembly, one end of connecting rod 27 is connect with eccentric connecting hole by shaft;It is left Shell 10 and right shell body 32 are located at 7 lower end of knee joint rotor and set there are two two shell fixed plates 11 being oppositely arranged, and two The inside and outside rotation torsional elastic body in leg is fixed between shell fixed plate 11, the inside and outside rotation torsional elastic body lower end in leg is fixed with shank Connecting pin 19;The both ends of two shell fixed plates 11 are fixedly connected with left shell 10 and right shell body 32 respectively;
Support phase shock-damping structure includes air damping spring lever 35 and optical axis seat 6, and optical axis seat 6, which is arranged, is fixed on connecting cylinder Outside;35 one end of air damping spring lever is fixedly connected with connecting cylinder, and the other end connect the fixed company in 1 one end of sleeve with thigh It connects;The other end of thigh connection sleeve 1 with thigh parts for connecting;
Specifically, as shown in Figure 10, Figure 11, the inside and outside rotation torsional elastic body in leg includes being fixed on two shell fixed plates 11 Between transfer block 13,13 lower end of transfer block is fixed with rotation seat 14, and 14 lower end of rotation seat is equipped with groove, the groove of rotation seat 14 It is interior to be equipped with bearing mounting groove and multiple spring retainer blocks, rolling bearing 16 and the rolling of mutually nested setting are equipped in bearing mounting groove Needle thrust bearing 17, multiple spring retainer blocks are set in the groove circumference of rotation seat 14, further include coaxially matching with rotation seat 14 The Spring Card block 18 of conjunction, Spring Card block 18 are equipped with spring fixture block identical with 14 inner spring of rotation seat limit number of blocks, Compressed spring 15 is equipped between spring fixture block and spring retainer block;Four bullets are specifically all provided in the groove circumference of rotation seat 14 Spring limited block, it is corresponding that four spring fixture blocks are set on Spring Card block 18, between spring fixture block and spring retainer block Spring cavity is formed, for placing compressed spring.Rolling bearing 16 and needle thrust bearing 17 and 14 coaxial cooperation of rotation seat;Rotation By coaxially connected bar or connection shaft connection between seat 14 and Spring Card block 18, rotation seat 14 and Spring Card block 18 are realized Between spring fixation.
During use, if human body wearing includes the lower limb exoskeleton of this device, in human leg's twist motion, Rotation seat 14 and Spring Card block 18 can carry out follow-up motion, reduce ectoskeleton to the restrict of people's leg, increase ectoskeleton Flexibility, when not having twisting resistance to act on ectoskeleton leg, rotation seat 14 and Spring Card block 18 are under the action of the spring Self-aligning.
As shown in figure 9, elastic slide block component includes the sliding block pinboard 38 being fixedly connected with sliding block 37, sliding block pinboard 38 Upper and lower ends are respectively fixed with a slide block structure plate 42, and multiple light being vertically arranged are fixed between two slide block structure plates 42 Axis 41, nut block 23 are fixed on the side of sliding block pinboard 38, and nut block 23 is located between two slide block structure plates 42, nut block 23 equipped with the through-hole passed through for optical axis 41 and for the threaded hole with the cooperation sliding of screw rod 31;The top and bottom of nut block 23 Spring 39 and washer 40 are arranged on the optical axis 41 of part between slide block structure plate 42;The both ends of spring 39 respectively with nut block 23 surfaces and slide block structure plate 42 contact;The two sides of two slide block structure plates have been respectively fixedly connected with a sliding block side plate 25, sliding Block side plate 25 is connect with slide block structure plate 42 by bolt 43, and sliding block side plate 25 and connecting rod 27 are connected by the rotation connection rotation of pin 44 It connects;
Specifically, connecting rod 27 is that Y type connecting rod is provided with flange bearing 45, Y at the connecting pin of two blocks of sliding block side plates 25 One end of type connecting rod and the concentric cooperation of flange bearing 45, and a bias of the other end of Y type connecting rod and knee joint rotor 7 Hole forms the entire transmission chain of knee joint flexion and extension by bearing hinge connection;When motor 26 works, motor 26 exports axis connection The small synchronizing wheel 21 of output be driven by synchronous belt 22, big 20 rotary motion of synchronizing wheel is driven, with big 20 coaxial cooperation of synchronizing wheel Screw rod 31 rotate, to push nut block 23 along the axial movement of screw rod 31,23 push the spring 39 of nut block, spring 39 is pushed Slide block structure plate 42, thus formed by sliding block pinboard 38, sliding block 37, slide block structure plate 42, optical axis 41 and sliding block side plate 25 General frame is moved along line slide rail 29, and the Y type connecting rod 27 that sliding block side plate 25 is hinged drives knee joint rotor 7 to move, from And change the angle of knee joint rotor 7;Hollow in knee joint rotor 7, absolute value encoder 34 is co-axially mounted to knee joint It in rotor 7, and is fixedly connected by encoder fixing seat 9 with knee joint rotor 7, the output shaft of absolute value encoder 34 is logical Encoder output axis adapter flange 12 is crossed to be fixedly connected with left shell 10;26 tail portion of motor is fixed with encoder 30;In knee joint When work, sentenced by the relativeness between the absolute value encoder 34 in the encoder 30 and knee joint rotor of motor tail portion The size for external power output of breaking: if the respective value of two encoders is consistent, external no interactions power;If two encoders Respective value is inconsistent, then externally has reciprocal force, and the difference by calculating two encoder respective values measures the deformation quantity of spring 39, To obtain the size for the power that flexion and extension mechanism externally interacts.
Specifically, being set between two slide block structure plates 42 there are four optical axis 41, nut block is a cuboid characteristic block, The middle position of nut block 23 is arranged threaded hole, and threaded hole is uniformly distributed on peripheries with four for through-hole that optical axis 41 passes through;Nut The screwed hole of centre of block 23 and the centre bore of slide block structure plate 42 are co-axially mounted, and four through-holes and four optical axises of nut block 23 41 coaxial cooperations are connected between the upper and lower surface and slide block structure plate 42 of nut block 23 by 8 springs 39, and spring is divided equally in spiral shell The two sides of mother tuber 23 and with 41 coaxial cooperation of optical axis;
Specifically, being connected between screw rod 31 and bearing block 47 by flange bearing 36, the both ends stepped end of screw rod 31 is in method Cooperate in blue bearing 36, screw rod 31 and line slide rail 29 are arranged in parallel;
Motor fixing plate 28 is fixedly arranged at the front end with motor fixed block 24, and motor fixed block 24 is equipped with output shaft hole, motor 26 are fixed on motor fixing plate 28 by motor fixed ring 46, and the output shaft of motor 26 passes through the output shaft of motor fixed block 24 Hole;The front end of motor fixing plate 28 refers to motor fixing plate 28 far from 7 side of knee joint rotor;Line slide rail 29 of the present invention uses Straight line side's sliding rail guarantees reliability of operation;
As shown in figure 5, be fixed with linear bearing seat 4 on the outside of thigh connection sleeve 1, linear bearing seat 4 be equipped with it is multiple under Sliding eye, optical axis seat 6 be equipped with multiple upper sliding eyes corresponding with lower slider hole in linear bearing seat 4, lower slider hole with it is upper Guiding optical axis 5 is equipped between sliding eye;When ectoskeleton leg floor-type support, air damping spring lever 35 then can be because by external force Impact and shrink, while linear bearing seat 4 guiding optical axis 5 on slide along the axis movement, herein except vertical direction straight line Outside sliding motion, other freedom of motion are all restrained;The present invention is used is arranged symmetrical two in linear bearing seat 4 A lower slider hole, linear bearing 3 is arranged in lower slider hole, and 3 upper end of linear bearing passes through the fixed limit of linear bearing lid 2, light Axis 5 is sheathed on linear bearing 3, to guarantee stability when air damping spring lever 35 stretches;
Bearing 8 of the present invention uses thin-walled antifriction bearings;As shown in fig. 6, knee joint rotor 7 is hollow eccentric body, together When connecting cylinder axis direction extended line and 7 centre of gyration of knee joint rotor it is non-intersecting and be biased to the centre of gyration front side, The design is so that when each floor-type support of ectoskeleton foot, center of gravity biased forward, so that the knee joint of ectoskeleton is easy to keep most Big expanded angle, a part of support force are provided by the mechanical limit structure of knee joint revolving body 7, thus when can realize support from Lock, joint are not easy the characteristic bended, so that the leg of ectoskeleton can stablize holding support weight gravity in support phase, And the gravity of weight bearing is conducted to ground.
Connecting cylinder is equipped with interior connection screw thread hole or outer connection screw thread, and 35 one end of air damping spring lever is equipped with and connect circle Column is fixedly connected with the outer connection screw thread or interior connection screw thread hole to match, and 35 one end of air damping spring lever passes through with connecting cylinder It is threadedly coupled;
Knee joint bends and stretches dynamic structure motion state and shows as shown in Fig. 2, when support phase at leg portion and lower leg portion In same straight line, the maximum magnitude of flexion and extension is 120 °;Knee joint bends and stretches and combines between dynamic structure and ectoskeleton leg Mode as shown in figure 3, thigh connecting sleeve 1 and shank connecting pin 19 are attached with thigh and shank respectively.The device makes Ectoskeleton leg is obtained inside and outside the active freedom degree, vertical sliding buffering freedom degree and leg that knee joint position possesses flexion and extension Revolve torsional freedom.In the integrally-built explosive view of Fig. 4 knee joint unit,
It is fastenedly connected between shell 10 and shell 32 by motor fixing plate 28, motor fixed block 24 and motor fixing plate 28 Be fixedly connected on one side, be fixedly connected between the end face and motor fixed block 24 of motor 26, while motor fixed ring 46 and motor Between be fixedly connected, and be fixedly connected between motor fixed ring 46 and motor fixing plate 28;In the another side of motor fixing plate 28, Line slide rail 29 is fixedly connected with motor fixing plate 28, and what is cooperated with sliding rail 29 is sliding block 37, sliding block pinboard 38 and sliding block 37 It is fixedly connected, at the both ends of sliding block pinboard 38, is fixedly connected two blocks of slide block structure plates 42, the two sides of slide block structure plate are fixed Connection sliding block side plate 25, and four optical axises 41 are uniformly fixedly connected between two blocks of slide block structure plates, sliding block pinboard 38, sliding block 37, slide block structure plate 42, optical axis 41 and sliding block side plate 25 form a general frame.
The knee joint unit of a lower limb exoskeleton robot of the present invention, enables ectoskeleton compliant motion, meets Accurate power control in the case where big gravity load is transmitted, movement is flexibly followed, increases the comfort of wearer.It is kneed to bend and stretch fortune It is dynamic to be driven using slider-crank mechanism principle, it is driven between motor and screw rod using synchronizing wheel synchronous belt mode, screw rod Rotation drives nut block to be slided along screw rod direction, carries out elasticity even using spring between the sliding block in nut block and sliding rail It connects, it is hinged using connecting rod between sliding block and knee joint rotor, therefore the rotation of motor can be driven kneed angle and become Change, and since elastomer is connected in entire transmission chain, i.e. this mechanism Flexible Transmission mode for be series connection flexible drive, defeated When effect of the outlet by extraneous power, it can go to strain in the form of highly dynamic, protection mechanism is to reduce uncertain ring Impact of the border to its power;The deformation quantity of spring can be direct-connected by the direct-connected encoder of motor side and the motion of knee joint center of circle coding Device corresponds to interpolation measurement, that is, accurately controls output of the flexion and extension to the power of human body.
Since the main purposes of assistance exoskeleton is weight bearing movement, the weight that ectoskeleton is born is in each floor-type support of foot When easily cause the larger rigid shock arrived, therefore the scheme used is: the sleeve portion and air damping pipe connect with thigh end It connects, when foot lands every time in the body gait period when this device is installed in ectoskeleton leg, that is, supports Phase, air damping pipe can be compressed on the vertical direction of leg, play the role of buffering, slow down assistance exoskeleton entirety leg Mechanism is faced its rigid shock by ground.
The mechanism of an elastic torsion is devised at shank connecting pin, with reduce ectoskeleton to the inward turning of human leg and The constraint of the freedom of motion of outward turning.Elastic torsion mechanism leads between two torsion blocks mainly by two torsion block coaxial cooperations It crosses four linear springs to be attached in both direction clockwise and anticlockwise, so that when ectoskeleton leg is by inward turning and outer When the motoring torque of rotation, torsion block can carry out carrying out servo rotary movement with the interior outward turning campaign of human leg, without being reversed Start angle position can be resiliently returned to due to spring when power.
Kneed flexion and extension is slider-crank mechanism, the linear springs in transmission chain, enables mechanism flexible right Outer driving, in human-computer interaction and the impact of ectoskeleton resistance in motion process in circumstances not known, while the knee joint center of circle The size of the power output of the mechanism can be accurately calculated with the difference for the encoder being directly connected at motor output shaft two, it is convenient outer Bone carries out the control of power, lays the foundation on hardware for the Shared control and man-machine servo antrol of ectoskeleton.In energy loss Aspect, due to introducing elastomer, when which carries out flexion and extension, the process compressed and discharged there are spring, therefore can Overload energy is stored in will spring, and is discharged when spring restPoses, power-actuated peak work can be reduced Rate keeps capable output gentler, greatly improves power-assisted efficiency.
And the concatenated air damping spring of thigh sleeve end may make the ectoskeleton of weight bearing each foot in body gait Rigid shock caused by slowing down when landing because of weight inertia between ectoskeleton leg and ground, dynamic protection assistance exoskeleton are whole Body mechanism.
Shank end connects elastic torsion block, torsional freedom is increased, so that ectoskeleton leg can be with people's leg inward turning outward turning Movement torsion, human body wearing ectoskeleton when flexibility and comfort be improved.

Claims (10)

1. a kind of ectoskeleton dynamic knee joint structure, which is characterized in that including thigh connection sleeve (1), support phase shock-damping structure, Knee joint bends and stretches dynamic structure and shank connecting pin (19);
Knee joint bends and stretches dynamic structure and includes knee joint rotor (7) and be set at left and right sides of knee joint rotor (7) Left shell (10) and right shell body (32), knee joint rotor (7) are respectively arranged on the left side and the right side a rotation connection axis, left shell (10) and right shell body (32) is equipped with shaft connecting hole, turn of knee joint rotor (7) and left shell (10) and right shell body (32) Axis connection hole is connected by bearing (8);Motor fixing plate (28) are fixed between left shell (10) and right shell body (32), motor is solid Fixed board (28) is fixedly arranged at the front end with motor (26), and the rear end of motor fixing plate (28) is fixed with line slide rail (29), line slide rail (29) it is equipped with the sliding block (37) of cooperation sliding, sliding block is fixedly connected with elastic slide block component on (37);Motor fixing plate (28) Rear end upper and lower ends fix a bearing block (47) respectively, be equipped with screw rod (31) between two bearing blocks (47), screw rod (31) It is rotatablely connected between bearing block (47) by bearing, one end of screw rod (31) is fixed with big synchronizing wheel (20), and motor (26) is defeated The small synchronizing wheel (21) of shaft end and big synchronizing wheel (20) are driven by synchronous belt (22) out;Elastic slide block component and screw rod (31) are logical It crosses and is threadedly engaged transmission;Knee joint rotor (7) circumferential side wall is equipped with the connecting cylinder for connecting with support phase shock-damping structure, Knee joint rotor (7) is equipped with eccentric connecting hole;Being connected on elastic slide block component being capable of the rotation of relative resilient slide block assembly Connecting rod (27), one end of connecting rod (27) is connect with eccentric connecting hole by shaft;Left shell (10) and right shell body (32) are located at Knee joint rotor (7) lower end is set there are two two shell fixed plates (11) being oppositely arranged, two shell fixed plates (11) it Between be fixed with that leg is inside and outside to revolve torsional elastic body, the inside and outside rotation torsional elastic body lower end in leg is fixed with shank connecting pin (19);
Support phase shock-damping structure includes air damping spring lever (35) and optical axis seat (6), and optical axis seat (6), which is arranged, is fixed on connection circle On the outside of column;Air damping spring lever (35) one end is fixedly connected with connecting cylinder, and it is solid that the other end connect sleeve (1) one end with thigh Fixed connection;The other end of thigh connection sleeve (1) with thigh parts for connecting.
2. a kind of ectoskeleton dynamic knee joint structure according to claim 1, which is characterized in that turn-knob turns bullet inside and outside leg Property body include being fixed on transfer block (13) between two shell fixed plates (11), transfer block (13) lower end is fixed with rotation seat (14), rotation seat (14) lower end is equipped with groove, is equipped with bearing mounting groove and multiple spring retainer blocks in the groove of rotation seat (14), The rolling bearing (16) and needle thrust bearing (17) of mutually nested setting are equipped in bearing mounting groove, multiple spring retainer blocks are equal In the groove circumference of rotation seat (14), further include and the Spring Card block (18) of rotation seat (14) coaxial cooperation, Spring Card Block (18) is equipped with spring fixture block identical with rotation seat (14) inner spring limit number of blocks, spring fixture block and spring retainer block Between be equipped with compressed spring (15), between rotation seat (14) and Spring Card block (18) by coaxially connected bar or connect shaft company It connects.
3. a kind of ectoskeleton dynamic knee joint structure according to claim 2, which is characterized in that specifically in rotation seat (14) four spring retainer blocks are all provided in groove circumference, it is corresponding that four Spring Cards are set on Spring Card block (18) Block forms the spring cavity for placing compressed spring between spring fixture block and spring retainer block;Rolling bearing (16) and needle roller push away Power bearing (17) and rotation seat (14) coaxial cooperation.
4. a kind of ectoskeleton dynamic knee joint structure according to claim 1, which is characterized in that elastic slide block component includes The sliding block pinboard (38) being fixedly connected with sliding block (37), sliding block pinboard (38) upper and lower ends are respectively fixed with a sliding block knot Structure plate (42) is fixed with multiple optical axises (41) being vertically arranged between two slide block structure plates (42), sliding block pinboard (38) Side is fixed with nut block (23), and nut block (23) is located between two slide block structure plates (42), and nut block (23), which is equipped with, to be used The through-hole that passes through in optical axis (41) and for the threaded hole with screw rod (31) cooperation sliding;The top and bottom of nut block (23) and cunning Spring (39) are arranged on the optical axis (41) of part between structure plates (42);The both ends of spring (39) respectively with nut block (23) Surface and slide block structure plate (42) contact;The two sides of two slide block structure plates have been respectively fixedly connected with a sliding block side plate (25), Sliding block side plate (25) and connecting rod (27) are rotatablely connected by rotation axis.
5. a kind of ectoskeleton dynamic knee joint structure according to claim 4, which is characterized in that connecting rod (27) is Y type company Bar is provided with flange bearing (45) in the side of two pieces of sliding block side plates (25), and one end of Y type connecting rod and flange bearing (45) are coaxial Heart cooperation, the other end of Y type connecting rod and an eccentric orfice of knee joint rotor (7) pass through bearing hinge connection.
6. a kind of ectoskeleton dynamic knee joint structure according to claim 4, which is characterized in that in two slide block structure plates (42) it is set between there are four optical axis (41), nut block is a cuboid characteristic block, and spiral shell is arranged in the middle position of nut block (23) Pit, threaded hole are uniformly distributed on peripheries with four through-holes passed through for optical axis (41);The screwed hole of centre and cunning of nut block (23) The centre bore of structure plates (42) is co-axially mounted, and four through-holes of nut block (23) and four optical axis (41) coaxial cooperations, spiral shell It is connect between the upper and lower surface of mother tuber (23) and slide block structure plate (42) by 8 springs (39), spring is divided equally in nut block (23) two sides and with optical axis (41) coaxial cooperation.
7. a kind of ectoskeleton dynamic knee joint structure according to claim 1, which is characterized in that screw rod (31) and bearing block (47) it is connected between by flange bearing (36), the both ends stepped end of screw rod (31) cooperation, screw rod in flange bearing (36) (31) it is arranged in parallel with line slide rail (29).
8. a kind of ectoskeleton dynamic knee joint structure according to claim 1, which is characterized in that motor fixing plate (28) It is fixedly arranged at the front end with motor fixed block (24), motor fixed block (24) is equipped with output shaft hole, and motor (26) passes through motor fixed ring (46) it is fixed on motor fixing plate (28), the output shaft of motor (26) passes through the output shaft hole of motor fixed block (24).
9. a kind of ectoskeleton dynamic knee joint structure according to claim 1, which is characterized in that knee joint rotor (7) For hollow eccentric body, the extended line and knee joint rotor (7) centre of gyration of connecting cylinder axis direction are non-intersecting.
10. a kind of ectoskeleton dynamic knee joint structure according to claim 1, which is characterized in that thigh connects sleeve (1) Outside is fixed with linear bearing seat (4), linear bearing seat (4) be equipped with multiple lower slider holes, optical axis seat (6) be equipped with it is multiple with The corresponding upper sliding eye in lower slider hole in linear bearing seat (4) is equipped with guiding optical axis between lower slider hole and upper sliding eye (5)。
CN201811377495.4A 2018-11-19 2018-11-19 Exoskeleton powered knee joint structure Active CN109176597B (en)

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CN110788850A (en) * 2019-11-22 2020-02-14 合肥工业大学 Energy-saving industrial robot
CN110802606A (en) * 2019-10-12 2020-02-18 深圳市优必选科技股份有限公司 Rotating structure and robot
CN112060057A (en) * 2020-09-03 2020-12-11 长春工业大学 Bionic knee joint mechanism based on tensioning integral structure
CN113084862A (en) * 2021-04-23 2021-07-09 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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JP2013070783A (en) * 2011-09-27 2013-04-22 Equos Research Co Ltd Walking support device
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CN110802606A (en) * 2019-10-12 2020-02-18 深圳市优必选科技股份有限公司 Rotating structure and robot
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CN113084862A (en) * 2021-04-23 2021-07-09 中国科学院深圳先进技术研究院 Exoskeleton robot ankle joint with three flexible driving branches
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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