CN109176597B - Exoskeleton powered knee joint structure - Google Patents
Exoskeleton powered knee joint structure Download PDFInfo
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- CN109176597B CN109176597B CN201811377495.4A CN201811377495A CN109176597B CN 109176597 B CN109176597 B CN 109176597B CN 201811377495 A CN201811377495 A CN 201811377495A CN 109176597 B CN109176597 B CN 109176597B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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Abstract
The invention discloses an exoskeleton powered knee joint structure, which adopts the principle of a crank-slider mechanism to carry out transmitted flexion and extension movement of a knee joint, utilizes the rotation of a screw rod to drive an elastic slider component to slide along the direction of the screw rod, forms a flexible transmission mode of serial elastic drive between a slider and a knee joint rotor, can remove strain in a highly dynamic mode when an output end is acted by external force, protects the mechanism so as to reduce the impact of uncertain environment on the force, and can accurately control the output of the flexion and extension movement on the force of a human body. The knee joint flexion and extension movement is a crank slider mechanism, a linear spring in a transmission chain enables the mechanism to be flexibly driven outwards, an elastic body is introduced, when the mechanism is in flexion and extension movement, the spring is compressed and released, overload energy can be stored in the spring, the overload energy is released when the spring is restored to the initial state, peak power of power driving can be reduced, force output is more gentle, and assistance efficiency is greatly improved.
Description
Technical Field
The invention belongs to the field of mechanical joint units, and particularly relates to an exoskeleton powered knee joint structure.
Background
The knee joint of the exoskeleton is used as a part of the power-assisted exoskeleton and mainly provides power for the knee joint movement of an external wearer, the traditional exoskeleton knee joint mainly considers the degree of freedom of the crouching and stretching movement of legs of a person, adopts the scheme that a motor and a speed reducer are connected in series and then are directly connected with an execution part, does not consider the movement of other degrees of freedom of the knee joint of the human body, and has large rigidity and is not flexible, so that the flexibility and the comfort degree of the wearer are limited; meanwhile, the linear type knee joint driving mode is generally that a linear motor is hinged between a thigh and a shank, so that the size is large, and the electromechanical structure is not compact enough.
Disclosure of Invention
The invention aims to provide an exoskeleton powered knee joint structure to overcome the defects in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
an exoskeleton powered knee joint structure comprises a thigh connecting sleeve, a support phase shock absorption structure, a knee joint flexion and extension power structure and a shank connecting end;
the knee joint flexion and extension power structure comprises a knee joint rotating body, a left shell and a right shell which are arranged on the left side and the right side of the knee joint rotating body, wherein the left side and the right side of the knee joint rotating body are respectively provided with a rotating connecting shaft; a motor fixing plate is fixed between the left shell and the right shell, a motor is fixed at the front end of the motor fixing plate, a linear slide rail is fixed at the rear end of the motor fixing plate, a slide block which is matched with the linear slide rail to slide is arranged on the linear slide rail, and an elastic slide block assembly is fixedly connected on the slide block; the upper end and the lower end of the rear end of the motor fixing plate are respectively fixed with a bearing seat, a screw rod is arranged between the two bearing seats, the screw rod is rotatably connected with the bearing seats through a bearing, one end of the screw rod is fixedly provided with a synchronous belt pulley, and an output synchronous belt pulley at the output shaft end of the motor is in transmission with the synchronous belt pulley through a synchronous belt; the elastic sliding block assembly is in threaded fit transmission with the screw rod; the circumferential side wall of the knee joint rotating body is provided with a connecting cylinder which is used for being connected with the support phase earthquake-less structure, and one side of the knee joint rotating body, which is opposite to the connecting cylinder, is provided with an eccentric connecting hole; the elastic sliding block component is connected with a connecting rod which can rotate relative to the elastic sliding block component, and one end of the connecting rod is connected with the eccentric connecting hole through a rotating shaft; the left shell and the right shell are positioned at the lower end of the knee joint rotating body and are provided with two shell fixing plates which are oppositely arranged, a leg internal and external rotation torsion elastic body is fixed between the two shell fixing plates, and a shank connecting end is fixed at the lower end of the leg internal and external rotation torsion elastic body;
the support phase is separated from the vibration structure and comprises a gas damping spring rod and an optical axis seat, and the optical axis seat is sleeved and fixed on the outer side of the connecting cylinder; one end of the gas damping spring rod is fixedly connected with the connecting cylinder, and the other end of the gas damping spring rod is fixedly connected with one end of the thigh connecting sleeve; the other end of the thigh connecting sleeve is used for being connected with the thigh part.
Further, the inside and outside rotation of shank changes the elastomer including being fixed in the switching piece between two casing fixed plates, switching piece lower extreme is fixed with rotates the seat, it is equipped with the recess to rotate the seat lower extreme, be equipped with bearing mounting groove and a plurality of spring stopper in the recess of rotation seat, be equipped with antifriction bearing and the bearing thrust bearing of nested setting each other in the bearing mounting groove, a plurality of spring stoppers all locate in the recess circumference of rotating the seat, still include with the coaxial complex spring chuck block seat of rotation seat, be equipped with on the spring chuck block seat and rotate the same spring chuck block quantity of seat spring stopper in, be equipped with compression spring between spring chuck block and the spring stopper, it is connected through coaxial connecting rod or connection pivot to rotate between seat and the spring chuck block seat.
Furthermore, four spring limiting blocks are arranged in the circumference of the groove of the rotating seat, four spring clamping blocks are correspondingly arranged on the spring clamping block seat, and a spring cavity for placing a compression spring is formed between each spring clamping block and each spring limiting block; the rolling bearing and the needle roller thrust bearing are coaxially matched with the rotating seat.
Furthermore, the elastic sliding block assembly comprises a sliding block adapter plate fixedly connected with the sliding block, the upper end and the lower end of the sliding block adapter plate are respectively fixed with a sliding block structure plate, a plurality of vertically arranged optical axes are fixed between the two sliding block structure plates, a nut block is fixed on one side of the sliding block adapter plate and positioned between the two sliding block structure plates, and the nut block is provided with a through hole for the optical axis to pass through and a threaded hole for the sliding of the nut block in cooperation with the lead screw; a spring is sleeved on the optical axis between the upper surface and the lower surface of the nut block and the sliding block structure plate; two ends of the spring are respectively contacted with the surface of the nut block and the sliding block structure plate; the two sides of the two sliding block structure plates are respectively fixedly connected with a sliding block side plate, and the sliding block side plates are rotatably connected with the connecting rod through rotating shafts.
Furthermore, the connecting rod is a Y-shaped connecting rod, the side surfaces of the two sliding block side plates are provided with flange bearings, one end of the Y-shaped connecting rod is coaxially matched with the flange bearings, and the other end of the Y-shaped connecting rod is hinged with an eccentric hole of the knee joint rotating body through a bearing.
Furthermore, four optical axes are arranged between the two sliding block structure plates, the nut block is a cuboid characteristic block, a threaded hole is formed in the middle of the nut block, and four through holes for the optical axes to pass through are uniformly distributed on the periphery of the threaded hole; the central threaded hole of nut piece and the centre bore coaxial arrangement of slider structure board, and four through-holes and the coaxial cooperation of four optical axes of nut piece, through 8 spring coupling between the upper and lower two sides of nut piece and the slider structure board, the spring divide equally in the both sides of nut piece and with the coaxial cooperation of optical axis.
Furthermore, the screw rod is connected with the bearing seat through a flange bearing, the two end step ends of the screw rod are matched in the flange bearing, and the screw rod and the linear slide rail are arranged in parallel.
Further, a motor fixing block is fixed at the front end of the motor fixing plate, an output shaft hole is formed in the motor fixing block, the motor is fixed on the motor fixing plate through a motor fixing ring, and an output shaft of the motor penetrates through the output shaft hole of the motor fixing block; the front end of the motor fixing plate means that the motor fixing plate is far away from one side of the knee joint rotating body.
Furthermore, the knee joint rotating body is a hollow eccentric body, and the extension line of the axis direction of the connecting cylinder does not intersect with the rotation center of the knee joint rotating body.
Furthermore, a linear bearing seat is fixed on the outer side of the thigh connecting sleeve, a plurality of lower sliding holes are formed in the linear bearing seat, a plurality of upper sliding holes corresponding to the lower sliding holes in the linear bearing seat are formed in the optical axis seat, and a guide optical axis is arranged between the lower sliding holes and the upper sliding holes.
Compared with the prior art, the invention has the following beneficial technical effects:
the exoskeleton powered knee joint structure adopts a crank-slider mechanism principle to carry out transmitted flexion and extension movement of a knee joint, a motor and a screw rod are transmitted in a synchronous belt mode by adopting a synchronous wheel, the rotation of the screw rod drives an elastic slider assembly to slide along the direction of the screw rod, and the slider is hinged with a knee joint rotating body by adopting a connecting rod, so that the rotation of the motor can drive the angle change of the knee joint. The flexion and extension movement of the knee joint is a crank slider mechanism, and a linear spring in a transmission chain enables the mechanism to be flexibly driven outwards, so that the exoskeleton can conveniently control the force by resisting the impact of the force in the human-computer interaction and the movement process of the exoskeleton in an unknown environment, and a foundation is laid for the flexible control and the human-computer follow-up control of the exoskeleton on hardware. In the aspect of energy loss, due to the fact that the elastic body is introduced, when the mechanism conducts flexion and extension movement, the spring is compressed and released, overload energy can be stored in the spring, the spring is released when the spring returns to the initial state, peak power of power driving can be reduced, force output is enabled to be smoother, and power assisting efficiency is greatly improved.
Furthermore, a synchronous wheel synchronous belt mode is adopted for transmission between the motor and the lead screw, the lead screw rotates to drive the nut block to slide along the direction of the lead screw, the nut block and the sliding block on the sliding rail are elastically connected through a spring, and the flexible transmission mode of elastic driving is connected in series, so that the transmission stability is ensured.
Furthermore, the sleeve part connected with the thigh end is connected with the gas damping pipe in series, when the device is installed on the leg of the exoskeleton, the gas damping pipe can be compressed in the vertical direction of the leg to play a role in buffering when the foot falls to the ground in the gait cycle of a human body, and the rigid impact of the ground on the leg mechanism of the whole assisting exoskeleton is relieved. The gas damping spring connected in series with the sleeve end of the thigh can enable the loaded exoskeleton to slow down rigid impact between the exoskeleton leg and the ground caused by the inertia of a heavy object when the foot falls to the ground in human gait, and dynamically protect the power-assisted exoskeleton integral mechanism.
Furthermore, a leg internal-external rotation torsion elastic body is designed at the connecting end of the lower leg, so that the restriction of the exoskeleton on the freedom degree of motion of internal rotation and external rotation of the leg of the human body is reduced. The elastic torsion mechanism is mainly formed by coaxially matching two torsion blocks, and the two torsion blocks are connected in clockwise and anticlockwise directions through four linear springs, so that when the exoskeleton legs are subjected to internal rotation and external rotation movement moments, the torsion blocks can perform follow-up rotation movement along with the internal and external rotation movement of the legs of a human body, and the elastic torsion mechanism can return to an initial angle position due to the elasticity of the springs when torsion force is not applied. The shank end is connected with the elastic twisting block, so that the twisting freedom degree is increased, the exoskeleton leg can be twisted along with the motion of the internal rotation and the external rotation of the human leg, and the flexibility and the comfort of the human body when wearing the exoskeleton are improved.
Drawings
FIG. 1 is a schematic structural diagram of the exoskeleton powered knee joint of the present invention;
FIG. 2 is a diagram showing the flexion and extension movement of the exoskeleton powered knee joint;
FIG. 3 is a schematic view of the exoskeleton powered knee joint mounting and connecting structure of the present invention;
fig. 4 is an exploded view of the exoskeleton powered knee joint structure of the present invention;
FIG. 5 is a schematic view of a support phase shock absorbing structure;
FIG. 6 is a schematic diagram of an eccentric knee joint rotor;
FIG. 7 is a schematic view of the flexion-extension power structure of the knee joint;
FIG. 8 is an enlarged view of a portion of FIG. 7;
FIG. 9 is an exploded view of the elastomeric slider;
FIG. 10 is a schematic structural view of an internal rotation and external rotation torsion mechanism;
FIG. 11 is a cross-sectional view of an inside-outside twist elastomer.
The device comprises a thigh connecting sleeve 1, a thigh connecting sleeve 2, a linear bearing cover 3, a linear bearing 4, a linear bearing seat 5, a guide optical axis 6, an optical axis seat 7, a knee joint rotating body 8, a bearing 9, an encoder fixing seat 10, a left shell 11, a shell fixing plate 12, an encoder output shaft adapter flange 13, an adapter plate 14, a rotating seat 15, a compression spring 16, a rolling bearing 17, a needle thrust bearing 18, a spring clamping block seat 19, a shank connecting end 20, a large synchronous wheel 21, a small synchronous wheel 22, a synchronous belt 23, a nut block 24, a motor fixing block 25, a sliding block side plate 26, a motor 27, a connecting rod 28, a motor fixing plate 29, a linear square sliding rail 30, a motor encoder 31, a screw rod 32, a right shell 33, a rolling bearing 34 and an absolute encoder; 35. the device comprises a gas damping spring 36, a flange bearing 37, a sliding block 38, a sliding block adapter plate 39, a spring 40, a gasket 41, an optical axis 42 and a sliding block structural plate; 43. a bolt; 44. rotating the connecting pin; 45. flange bearing, 46, motor retainer plate, 47, bearing frame.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
the invention relates to an exoskeleton powered knee joint structure which is used as a part between a thigh and a shank of a connection assisting exoskeleton robot; the whole structure of the exoskeleton dynamic knee joint structure is shown in figure 1; comprises a thigh connecting sleeve, a support phase earthquake-less structure, a knee joint flexion and extension power structure, a leg internal and external rotation and torsion elastic body and a shank connecting end 19;
as shown in fig. 7 and 8, the knee joint flexion and extension power structure includes a knee joint rotating body 7, and a left shell 10 and a right shell 32 disposed on the left and right sides of the knee joint rotating body 7, the left and right sides of the knee joint rotating body 7 are respectively provided with a rotating connecting shaft, the left shell 10 and the right shell 32 are provided with rotating shaft connecting holes, and the knee joint rotating body 7 is connected with the rotating shaft connecting holes of the left shell 10 and the right shell 32 through a bearing 8; a motor fixing plate 28 is fixed between the left shell 10 and the right shell 32, the left side and the right side of the motor fixing plate 28 are respectively and fixedly connected with the left shell 10 and the right shell 32, a motor 26 is fixed at the front end of the motor fixing plate 28, a linear slide rail 29 is fixed at the rear end of the motor fixing plate 28, a slide block 37 which is matched with the linear slide rail 29 to slide is arranged on the linear slide rail 29, and an elastic slide block assembly is fixedly connected on the slide block 37; the upper end and the lower end of the rear end of the motor fixing plate 28 are respectively fixed with a bearing seat 47, a screw rod 31 is arranged between the two bearing seats 47, the screw rod 31 is rotatably connected with the bearing seats 47 through a bearing, one end of the screw rod 31 is fixed with a large synchronizing wheel 20, and an output small synchronizing wheel 21 at the output shaft end of the motor 26 is in transmission with the large synchronizing wheel 20 through a synchronous belt 22; a nut block 23 which is in relative transmission sliding with the screw rod 31 is fixed in the elastic slide block component; a connecting cylinder for connecting with the thigh connecting sleeve is arranged on the circumferential side wall of the knee joint rotating body 7, and an eccentric connecting hole is formed in one side of the knee joint rotating body 7 opposite to the connecting cylinder; a connecting rod 27 capable of rotating relative to the elastic sliding block assembly is connected to the elastic sliding block assembly, and one end of the connecting rod 27 is connected with the eccentric connecting hole through a rotating shaft; the left shell 10 and the right shell 32 are positioned at the lower end of the knee joint rotating body 7 and are provided with two shell fixing plates 11 which are oppositely arranged, a leg internal and external rotation torsion elastic body is fixed between the two shell fixing plates 11, and a shank connecting end 19 is fixed at the lower end of the leg internal and external rotation torsion elastic body; two ends of the two shell fixing plates 11 are respectively fixedly connected with the left shell 10 and the right shell 32;
the support phase is separated from the vibration structure and comprises a gas damping spring rod 35 and an optical axis seat 6, and the optical axis seat 6 is sleeved and fixed on the outer side of the connecting cylinder; one end of the gas damping spring rod 35 is fixedly connected with the connecting cylinder, and the other end of the gas damping spring rod is fixedly connected with one end of the thigh connecting sleeve 1; the other end of the thigh connecting sleeve 1 is used for being connected with the thigh part;
specifically, as shown in fig. 10 and 11, the leg internal-external rotation torsion elastic body includes a switching block 13 fixed between two shell fixing plates 11, a rotating seat 14 is fixed at the lower end of the switching block 13, a groove is formed at the lower end of the rotating seat 14, a bearing installation groove and a plurality of spring limiting blocks are arranged in the groove of the rotating seat 14, a rolling bearing 16 and a needle thrust bearing 17 which are nested with each other are arranged in the bearing installation groove, the plurality of spring limiting blocks are all arranged in the circumference of the groove of the rotating seat 14, the leg internal-external rotation torsion elastic body further includes a spring limiting block seat 18 coaxially matched with the rotating seat 14, the spring limiting block seat 18 is provided with spring clamping blocks with the same number as the spring limiting blocks in the rotating seat 14, and compression springs 15 are; specifically, four spring limiting blocks are arranged in the circumference of the groove of the rotating seat 14, four spring clamping blocks are correspondingly arranged on the spring clamping block seat 18, and a spring cavity is formed between each spring clamping block and each spring limiting block and used for placing a compression spring. The rolling bearing 16 and the needle roller thrust bearing 17 are coaxially matched with the rotating seat 14; the rotating seat 14 is connected with the spring block seat 18 through a coaxial connecting rod or a connecting rotating shaft, so that the fixation of the spring between the rotating seat 14 and the spring block seat 18 is realized.
In the using process, if a human body wears the lower limb exoskeleton containing the device, when the legs of the human body do twisting motion, the rotating seat 14 and the spring clamping block seat 18 can do follow-up motion, so that the restriction limit of the exoskeleton on the legs of the human body is reduced, the flexibility of the exoskeleton is increased, and when no twisting force acts on the legs of the exoskeleton, the rotating seat 14 and the spring clamping block seat 18 automatically return to the right under the action of the springs.
As shown in fig. 9, the elastic slide block assembly includes a slide block adapter plate 38 fixedly connected to the slide block 37, two slide block structure plates 42 are respectively fixed at the upper and lower ends of the slide block adapter plate 38, a plurality of vertically arranged optical axes 41 are fixed between the two slide block structure plates 42, the nut block 23 is fixed at one side of the slide block adapter plate 38, the nut block 23 is located between the two slide block structure plates 42, and the nut block 23 is provided with a through hole for the optical axis 41 to pass through and a threaded hole for the screw rod 31 to slide in a matching manner; a spring 39 and a gasket 40 are sleeved on an optical axis 41 between the upper surface and the lower surface of the nut block 23 and the slider structure plate 42; the two ends of the spring 39 are respectively contacted with the surface of the nut block 23 and the sliding block structure plate 42; two sides of the two sliding block structure plates are fixedly connected with a sliding block side plate 25 respectively, the sliding block side plate 25 is connected with a sliding block structure plate 42 through a bolt 43, and the sliding block side plate 25 is rotatably connected with a connecting rod 27 through a rotating connecting pin 44;
specifically, the connecting rod 27 is a Y-shaped connecting rod, a flange bearing 45 is arranged at the connecting end of the two slider side plates 25, one end of the Y-shaped connecting rod is coaxially matched with the flange bearing 45, and the other end of the Y-shaped connecting rod is hinged with an eccentric hole of the knee joint rotating body 7 through a bearing to form a whole transmission chain of the knee joint flexion and extension movement; when the motor 26 works, the small output synchronizing wheel 21 connected with the output shaft of the motor 26 is driven by the synchronous belt 22 to drive the large synchronizing wheel 20 to rotate, the screw rod 31 coaxially matched with the large synchronizing wheel 20 rotates to push the nut block 23 to move along the axial direction of the screw rod 31, the nut block 23 pushes the spring 39, the spring 39 pushes the sliding block structure plate 42, the integral frame formed by the sliding block adapter plate 38, the sliding block 37, the sliding block structure plate 42, the optical axis 41 and the sliding block side plate 25 moves along the linear sliding rail 29, and the Y-shaped connecting rod 27 hinged to the sliding block side plate 25 drives the knee joint rotating body 7 to move, so that the angle of the knee joint rotating body 7 is changed; the knee joint rotating body 7 is hollow, the absolute value encoder 34 is coaxially arranged in the knee joint rotating body 7 and is fixedly connected with the knee joint rotating body 7 through an encoder fixing seat 9, and an output shaft of the absolute value encoder 34 is fixedly connected with the left shell 10 through an encoder output shaft adapter flange 12; the tail part of the motor 26 is fixed with an encoder 30; when the knee joint works, the magnitude of the external output force is judged by the relative relationship between the encoder 30 at the tail part of the motor and the absolute value encoder 34 in the knee joint rotating body: if the corresponding values of the two encoders are consistent, no interaction force exists; if the corresponding values of the two encoders are inconsistent, an interaction force exists outwards, and the deformation quantity of the spring 39 is measured by calculating the difference value of the corresponding values of the two encoders, so that the magnitude of the force of the outward interaction of the flexion-extension movement mechanism is obtained.
Specifically, four optical axes 41 are arranged between two sliding block structure plates 42, the nut block is a cuboid characteristic block, a threaded hole is formed in the middle of the nut block 23, and four through holes for the optical axes 41 to pass through are uniformly distributed around the threaded hole; the central threaded hole of the nut block 23 and the central hole of the slider structure plate 42 are coaxially arranged, four through holes of the nut block 23 are coaxially matched with four optical axes 41, the upper surface and the lower surface of the nut block 23 are connected with the slider structure plate 42 through 8 springs 39, and the springs are uniformly distributed on two sides of the nut block 23 and are coaxially matched with the optical axes 41;
specifically, the screw rod 31 is connected with the bearing seat 47 through a flange bearing 36, two stepped ends of the screw rod 31 are matched in the flange bearing 36, and the screw rod 31 and the linear slide rail 29 are arranged in parallel;
the front end of the motor fixing plate 28 is fixed with a motor fixing block 24, the motor fixing block 24 is provided with an output shaft hole, the motor 26 is fixed on the motor fixing plate 28 through a motor fixing ring 46, and the output shaft of the motor 26 penetrates through the output shaft hole of the motor fixing block 24; the front end of the motor fixing plate 28 indicates the side of the motor fixing plate 28 far away from the knee joint rotating body 7; the linear slide rail 29 adopts a linear square slide rail, so that the running reliability is ensured;
as shown in fig. 5, a linear bearing seat 4 is fixed on the outer side of the thigh connecting sleeve 1, a plurality of lower sliding holes are arranged on the linear bearing seat 4, a plurality of upper sliding holes corresponding to the lower sliding holes on the linear bearing seat 4 are arranged on the optical axis seat 6, and a guiding optical axis 5 is arranged between the lower sliding holes and the upper sliding holes; when the exoskeleton leg is supported by landing, the gas damping spring rod 35 can be contracted due to the impact of external force, and meanwhile, the linear bearing seat 4 slides on the guide optical axis 5 along the axis, and all the other motion degrees of freedom are constrained except the linear sliding motion in the vertical direction; according to the invention, two lower sliding holes which are bilaterally symmetrical are arranged on the linear bearing seat 4, the linear bearing 3 is sleeved in the lower sliding hole, the upper end of the linear bearing 3 is fixed and limited through the linear bearing cover 2, and the optical axis 5 is sleeved on the linear bearing 3, so that the stability of the gas damping spring rod 35 during expansion and contraction is ensured;
the bearing 8 adopts a thin-wall rolling bearing; as shown in fig. 6, the knee joint rotator 7 is a hollow eccentric body, and the extension line of the axis direction of the connecting cylinder does not intersect with the rotation center of the knee joint rotator 7 and deviates to the front side of the rotation center, so that the center of gravity is biased forwards when the exoskeleton foot falls to the ground for supporting, the knee joint of the exoskeleton is easy to maintain the maximum unfolding angle, and a part of supporting force is provided by the mechanical limit structure of the knee joint rotator 7, thereby realizing the characteristics of self-locking and uneasy bending of the joint during supporting, so that the legs of the exoskeleton can stably maintain the gravity of the supported weight during supporting phase and transmit the gravity of the loaded weight to the ground.
The connecting cylinder is provided with an internal connecting threaded hole or an external connecting threaded hole, one end of the gas damping spring rod 35 is provided with an external connecting threaded hole or an internal connecting threaded hole which is fixedly connected and matched with the connecting cylinder, and one end of the gas damping spring rod 35 is connected with the connecting cylinder through threads;
the motion state of the knee joint flexion and extension power structure is shown in fig. 2, when supporting, the thigh part and the shank part are in the same straight line, and the maximum range of flexion and extension motion is 120 degrees; the combination mode between the knee joint flexion and extension power structure and the exoskeleton leg is shown in fig. 3, and a thigh connecting sleeve 1 and a shank connecting end 19 are respectively connected with a thigh and a shank. The device enables the exoskeleton leg to have the active degree of freedom of flexion and extension movement, the vertical sliding buffering degree of freedom and the leg internal and external rotation and torsion degree of freedom at the knee joint position. In the exploded view of the overall structure of the knee joint unit of figure 4,
the shell 10 and the shell 32 are fastened and connected through a motor fixing plate 28, the motor fixing block 24 is fixedly connected with one surface of the motor fixing plate 28, the end surface of the motor 26 is fixedly connected with the motor fixing block 24, meanwhile, the motor fixing ring 46 is fixedly connected with the motor, and the motor fixing ring 46 is fixedly connected with the motor fixing plate 28; on the other side of the motor fixing plate 28, the linear slide rail 29 is fixedly connected with the motor fixing plate 28, the slide rail 29 is matched with a slide block 37, a slide block adapter plate 38 is fixedly connected with the slide block 37, two slide block structure plates 42 are fixedly connected at two ends of the slide block adapter plate 38, two sides of each slide block structure plate are fixedly connected with a slide block side plate 25, four optical axes 41 are uniformly and fixedly connected between the two slide block structure plates, and the slide block adapter plate 38, the slide block 37, the slide block structure plates 42, the optical axes 41 and the slide block side plates 25 form an integral framework.
According to the knee joint unit of the lower limb exoskeleton robot, the exoskeleton can move flexibly, accurate force control under the condition of transmitting a large gravity load is met, the exoskeleton can move flexibly, and the comfort of a wearer is improved. The knee joint flexion and extension movement is transmitted by adopting a crank-slider mechanism principle, the motor and the lead screw are transmitted in a synchronous belt manner by adopting a synchronous wheel, the lead screw rotates to drive the nut block to slide along the direction of the lead screw, the nut block is elastically connected with the slide block on the slide rail by adopting a spring, and the slide block is hinged with the knee joint rotating body by adopting a connecting rod, so that the rotation of the motor can drive the angle change of the knee joint; the deformation quantity of the spring can be measured by corresponding interpolation through an encoder directly connected with the end of the motor and an encoder directly connected with the center of the knee joint movement circle, and the output of the bending and stretching movement to the human body can be accurately controlled.
Because the main usage of helping hand ectoskeleton is that the heavy burden removes, and the heavy object that the ectoskeleton was born easily causes great rigidity impact when the foot falls to the ground to support each time, consequently the scheme of adoption is: the sleeve part connected with the thigh end is connected with the gas damping pipe in series, when the device is installed on the leg of the exoskeleton, the gas damping pipe can be compressed in the vertical direction of the leg to play a role in buffering when the foot falls to the ground in the gait cycle of a human body, and the rigid impact of the ground on the whole leg mechanism of the assisting exoskeleton is relieved.
An elastic torsion mechanism is designed at the connecting end of the lower leg so as to reduce the restriction of the exoskeleton on the freedom degree of motion of internal rotation and external rotation of the leg of the human body. The elastic torsion mechanism is mainly formed by coaxially matching two torsion blocks, and the two torsion blocks are connected in clockwise and anticlockwise directions through four linear springs, so that when the exoskeleton legs are subjected to internal rotation and external rotation movement moments, the torsion blocks can perform follow-up rotation movement along with the internal and external rotation movement of the legs of a human body, and the elastic torsion mechanism can return to an initial angle position due to the elasticity of the springs when torsion force is not applied.
The flexion and extension movements of the knee joint are a crank slider mechanism, a linear spring in a transmission chain enables the mechanism to be driven flexibly and externally, the impact of resistance in the human-computer interaction and the motion process of the exoskeleton in an unknown environment can be resisted, meanwhile, the difference value of encoders directly connected with the circle center of the knee joint and the output shaft of a motor can accurately calculate the output force of the mechanism, the force control of the exoskeleton is facilitated, and a foundation is laid for the flexible control and the human-computer follow-up control of the exoskeleton on hardware. In the aspect of energy loss, due to the fact that the elastic body is introduced, when the mechanism conducts flexion and extension movement, the spring is compressed and released, overload energy can be stored in the spring, the spring is released when the spring returns to the initial state, peak power of power driving can be reduced, force output is enabled to be smoother, and power assisting efficiency is greatly improved.
The gas damping spring connected in series with the sleeve end of the thigh can enable the loaded exoskeleton to slow down rigid impact between the exoskeleton leg and the ground caused by the inertia of a heavy object when the foot falls to the ground in human gait, and dynamically protect the power-assisted exoskeleton integral mechanism.
The shank end is connected with the elastic twisting block, so that the twisting freedom degree is increased, the exoskeleton leg can be twisted along with the motion of the internal rotation and the external rotation of the human leg, and the flexibility and the comfort of the human body when wearing the exoskeleton are improved.
Claims (10)
1. An exoskeleton powered knee joint structure is characterized by comprising a thigh connecting sleeve (1), a supporting phase damping structure, a knee joint flexion and extension power structure and a shank connecting end (19);
the knee joint flexion and extension power structure comprises a knee joint rotating body (7), a left shell (10) and a right shell (32) which are arranged on the left side and the right side of the knee joint rotating body (7), wherein the left side and the right side of the knee joint rotating body (7) are respectively provided with a rotating connecting shaft, the left shell (10) and the right shell (32) are provided with rotating shaft connecting holes, and the knee joint rotating body (7) is connected with the rotating shaft connecting holes of the left shell (10) and the right shell (32) through a bearing (8); a motor fixing plate (28) is fixed between the left shell (10) and the right shell (32), a motor (26) is fixed at the front end of the motor fixing plate (28), a linear slide rail (29) is fixed at the rear end of the motor fixing plate (28), a slide block (37) which slides in a matched manner is arranged on the linear slide rail (29), and an elastic slide block component is fixedly connected on the slide block (37); the upper end and the lower end of the rear end of the motor fixing plate (28) are respectively fixed with a bearing seat (47), a screw rod (31) is arranged between the two bearing seats (47), the screw rod (31) is rotatably connected with the bearing seats (47) through a bearing, one end of the screw rod (31) is fixed with a large synchronizing wheel (20), and a small synchronizing wheel (21) at the output shaft end of a motor (26) and the large synchronizing wheel (20) are driven through a synchronous belt (22); the elastic sliding block component is in matched transmission with the screw rod (31) through threads; the circumferential side wall of the knee joint rotating body (7) is provided with a connecting cylinder which is used for being connected with the support phase earthquake-reducing structure, and the knee joint rotating body (7) is provided with an eccentric connecting hole; a connecting rod (27) which can rotate relative to the elastic sliding block assembly is connected to the elastic sliding block assembly, and one end of the connecting rod (27) is connected with the eccentric connecting hole through a rotating shaft; the left shell (10) and the right shell (32) are positioned at the lower end of the knee joint rotating body (7) and are provided with two shell fixing plates (11) which are oppositely arranged, a leg internal and external rotation torsion elastic body is fixed between the two shell fixing plates (11), and a shank connecting end (19) is fixed at the lower end of the leg internal and external rotation torsion elastic body;
the support phase is separated from the vibration structure and comprises a gas damping spring rod (35) and an optical axis seat (6), and the optical axis seat (6) is sleeved and fixed on the outer side of the connecting cylinder; one end of the gas damping spring rod (35) is fixedly connected with the connecting cylinder, and the other end of the gas damping spring rod is fixedly connected with one end of the thigh connecting sleeve (1); the other end of the thigh connecting sleeve (1) is used for being connected with the thigh part.
2. The exoskeleton powered knee joint structure according to claim 1, wherein the leg internal and external rotation torsional elastic body comprises a rotation block (13) fixed between two shell fixing plates (11), a rotation base (14) is fixed at the lower end of the rotation block (13), a groove is formed at the lower end of the rotation base (14), a bearing installation groove and a plurality of spring limit blocks are formed in the groove of the rotation base (14), a rolling bearing (16) and a needle thrust bearing (17) are arranged in the bearing installation groove in a mutually nested manner, the plurality of spring limit blocks are arranged in the circumference of the groove of the rotation base (14), the exoskeleton powered knee joint structure further comprises a spring block seat (18) coaxially matched with the rotation base (14), the spring block seat (18) is provided with spring block blocks with the same number as the spring limit blocks in the rotation base (14), and a compression spring (15) is arranged between the spring block and the spring limit block, the rotating seat (14) is connected with the spring clamping block seat (18) through a coaxial connecting rod or a connecting rotating shaft.
3. The exoskeleton powered knee joint structure as claimed in claim 2, wherein four spring limit blocks are respectively arranged in the circumference of the groove of the rotating seat (14), and correspondingly four spring blocks are arranged on the spring block seat (18), and a spring cavity for placing a compression spring is formed between the spring blocks and the spring limit blocks; the rolling bearing (16) and the needle roller thrust bearing (17) are coaxially matched with the rotating seat (14).
4. The exoskeleton powered knee joint structure as claimed in claim 1, wherein the elastic slide block assembly comprises a slide block adapter plate (38) fixedly connected with the slide block (37), a slide block structure plate (42) is respectively fixed at the upper end and the lower end of the slide block adapter plate (38), a plurality of vertically arranged optical axes (41) are fixed between the two slide block structure plates (42), a nut block (23) is fixed at one side of the slide block adapter plate (38), the nut block (23) is located between the two slide block structure plates (42), and a through hole for the optical axis (41) to pass through and a threaded hole for the screw rod (31) to slide in a matching manner are formed in the nut block (23); a spring (39) is sleeved on the optical axis (41) between the upper surface and the lower surface of the nut block (23) and the sliding block structure plate (42); two ends of the spring (39) are respectively contacted with the surface of the nut block (23) and the sliding block structure plate (42); two sides of the two sliding block structure plates are respectively fixedly connected with a sliding block side plate (25), and the sliding block side plates (25) are rotatably connected with the connecting rods (27) through rotating shafts.
5. An exoskeleton powered knee joint structure as claimed in claim 4 characterised in that the link (27) is a Y-shaped link, a first flange bearing (45) is provided on the side of the two slider side plates (25), one end of the Y-shaped link co-axially fits with the first flange bearing (45), and the other end of the Y-shaped link is pivotally connected to an eccentric hole of the knee joint rotor (7) via a bearing.
6. The exoskeleton powered knee joint structure according to claim 4, wherein four optical axes (41) are arranged between two sliding block structure plates (42), the nut block is a cuboid feature block, a threaded hole is arranged in the middle of the nut block (23), and four through holes for the optical axes (41) to pass through are uniformly distributed around the threaded hole; the central threaded hole of nut piece (23) and the centre bore coaxial arrangement of slider structural slab (42), and four through-holes and four optical axis (41) coaxial coordination of nut piece (23), be connected through 8 springs (39) between the upper and lower two sides of nut piece (23) and slider structural slab (42), the spring is equallyd divide in the both sides of nut piece (23) and with optical axis (41) coaxial coordination.
7. An exoskeleton powered knee joint structure as claimed in claim 1 characterised in that the lead screw (31) is connected to the bearing block (47) by a second flange bearing (36), the stepped ends of the lead screw (31) are fitted in the second flange bearing (36), and the lead screw (31) and the linear slide (29) are arranged in parallel.
8. The exoskeleton powered knee joint structure according to claim 1, wherein a motor fixing block (24) is fixed at the front end of the motor fixing plate (28), an output shaft hole is formed in the motor fixing block (24), the motor (26) is fixed on the motor fixing plate (28) through a motor fixing ring (46), and an output shaft of the motor (26) penetrates through the output shaft hole of the motor fixing block (24).
9. An exoskeleton powered knee joint structure as claimed in claim 1 characterised in that the knee joint rotor (7) is a hollow eccentric body, and the extension line connecting the axes of the cylinders does not intersect the centre of rotation of the knee joint rotor (7).
10. The exoskeleton powered knee joint structure according to claim 1, wherein a linear bearing seat (4) is fixed on the outer side of the thigh connecting sleeve (1), a plurality of lower sliding holes are formed on the linear bearing seat (4), a plurality of upper sliding holes corresponding to the lower sliding holes on the linear bearing seat (4) are formed on the optical axis seat (6), and a guiding optical axis (5) is arranged between the lower sliding holes and the upper sliding holes.
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| CN110053070A (en) * | 2019-05-06 | 2019-07-26 | 胡杰 | A kind of joint of robot device of the flexible driving of imitative muscle |
| CN110802606B (en) * | 2019-10-12 | 2021-06-04 | 深圳市优必选科技股份有限公司 | Rotating structure and robot |
| CN110788850B (en) * | 2019-11-22 | 2021-03-09 | 合肥工业大学 | Control method of energy-saving industrial robot |
| CN112060057B (en) * | 2020-09-03 | 2021-09-17 | 长春工业大学 | Bionic knee joint mechanism based on tensioning integral structure |
| 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 |
| CN113664866B (en) * | 2021-08-23 | 2024-02-27 | 浙江大学 | Integrated elastic hydraulic robot joint |
| CN114211523B (en) * | 2021-11-15 | 2023-07-14 | 西安交通大学 | Variable damping compliant driving exoskeleton joint |
| CN115303382B (en) * | 2022-09-13 | 2024-02-06 | 中冶赛迪技术研究中心有限公司 | Foot type robot joint driving device and method |
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| US4320747A (en) * | 1980-10-06 | 1982-03-23 | Daniell Jr Roy B | Slidably-coupled joint |
| JP2013070783A (en) * | 2011-09-27 | 2013-04-22 | Equos Research Co Ltd | Walking support device |
| JP6535283B2 (en) * | 2012-09-07 | 2019-06-26 | ザ リージェンツ オブ ザ ユニバーシティ オブ カリフォルニア | Controllable inactive knee |
| CN107157709A (en) * | 2017-05-22 | 2017-09-15 | 天津大学 | Family type lower limb exoskeleton recovery exercising robot |
| CN107789155A (en) * | 2017-09-26 | 2018-03-13 | 刘英宽 | A kind of simple human ectoskeleton |
| TWI640698B (en) * | 2018-02-05 | 2018-11-11 | 張崇泰 | Angle-adjusted elbow joint structure |
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