CN109528453B - Lower limb exoskeleton heterogeneous knee joint based on parallel elastomers - Google Patents
Lower limb exoskeleton heterogeneous knee joint based on parallel elastomers Download PDFInfo
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- CN109528453B CN109528453B CN201811238685.8A CN201811238685A CN109528453B CN 109528453 B CN109528453 B CN 109528453B CN 201811238685 A CN201811238685 A CN 201811238685A CN 109528453 B CN109528453 B CN 109528453B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0406—Standing on the feet
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/102—Knee
Abstract
A lower limb exoskeleton heterogeneous knee joint based on parallel elastomers relates to a heterogeneous knee joint. The invention solves the problems that dead spots possibly occur when the existing lower limb exoskeleton knee joint lifts the leg, the human body is easily injured and the human body movement comfort is poor. The end cover is fixedly arranged on the outer ring surface of the knee joint body through a flange, the parallel connection elastic body is fixedly arranged in the end cover, the parallel connection elastic body is coaxially and fixedly connected with an output shaft of the speed reducer through a shaft bracket, the magnetic encoder magnetic ring is arranged on the knee joint body, the magnetic encoder magnetic head is arranged on the parallel connection elastic body, the magnetic encoder magnetic ring and the magnetic encoder magnetic head are oppositely arranged, an arc groove is processed on the knee joint body along the outer edge of the knee joint body, two adjustable limiting blocks are arranged in the arc groove, the arc groove is opposite to the connecting plate, a plurality of limiting holes are processed on the connecting plate along the circumferential direction of the connecting plate, limiting pins are inserted. The invention is used for the lower limb exoskeleton robot.
Description
Technical Field
The invention relates to a lower limb exoskeleton knee joint, in particular to a lower limb exoskeleton heterogeneous knee joint based on parallel elastomers.
Background
The exoskeleton robot is a wearable device which integrates multiple technologies such as a sensing technology and a control technology, particularly, the lower limb exoskeleton robot is an exoskeleton robot which is similar to the structure of the lower limb of a human body, and can help a wearer to realize actions such as assisted walking, lower limb rehabilitation, climbing up and down stairs and the like.
The main hip joint of lower limbs ectoskeleton robot, knee joint and ankle joint constitute, and wherein the ankle joint is connected with sole pressure shoes as lower limbs ectoskeleton is whole, is very important partly in structural design, and the ankle joint has mainly included three degrees of freedom: plantar flexion, dorsiflexion in the sagittal plane, eversion, inversion in the coronal plane, and supination, pronation in the transverse plane.
At present, the existing lower limb exoskeleton knee joint has extreme singularity, dead points can occur when a leg is lifted, namely, the rod piece cannot be pushed even if the force on the driving piece is infinite, so that the knee joint cannot normally move, and even the human body is injured; meanwhile, in the walking process, the exoskeleton and the ground have collision impact, so that the motion flexibility of the human joint is inevitably affected, and the motion comfort of the human body is poor.
In summary, when the existing lower limb exoskeleton knee joint lifts a leg, dead spots may occur, which are easy to cause injury to a human body and have poor motion comfort.
Disclosure of Invention
The invention aims to solve the problems that dead spots are likely to cause damage to human bodies and the human body movement comfort is poor when the existing lower limb exoskeleton knee joint lifts legs, and further provides a lower limb exoskeleton heterogeneous knee joint based on parallel elastomers.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the invention discloses a lower limb exoskeleton heterogeneous knee joint based on a parallel elastomer, which comprises a motor 1, a fixed cover 2, a harmonic reducer 3, a connecting plate 4, a knee joint body, a thigh rod connecting piece 5, a shank rod connecting piece 7 and a reducer output shaft 8, wherein the lower end of the thigh rod connecting piece 5 is provided with an outer edge, the fixed cover 2 and the connecting plate 4 are arranged in parallel and fixedly arranged on the outer edge of the thigh rod connecting piece 5, the motor 1 is fixedly arranged on one end surface of the fixed cover 2, one end of the harmonic reducer 3 is fixedly arranged on the other end surface of the fixed cover 2, the other end of the harmonic reducer 3 is connected with the connecting plate 4, the reducer output shaft 8 is fixedly arranged on the harmonic reducer 3, the knee joint body is arranged on the reducer output shaft 8 through a deep groove ball bearing 6, the upper end of the shank rod connecting piece 7 is fixedly arranged, The magnetic encoder comprises a magnetic encoder magnetic ring 10, a magnetic encoder magnetic head 11 and an end cover 12, wherein the end cover 12 is fixedly arranged on the outer ring surface of a knee joint body through a flange, a parallel elastic body 9 is fixedly arranged in the end cover 12, the parallel elastic body 9 is fixedly connected with a reducer output shaft 8 through a shaft bracket in a coaxial mode, the magnetic encoder magnetic ring 10 is arranged on the knee joint body, the magnetic encoder magnetic head 11 is arranged on the parallel elastic body 9, the magnetic encoder magnetic ring 10 and the magnetic encoder magnetic head 11 are arranged oppositely, an arc groove is formed in the knee joint body along the outer edge of the knee joint body, two adjustable limiting blocks 501 are arranged in the arc groove, the arc groove is opposite to a connecting plate 4, a plurality of limiting holes 4-1 are formed in the connecting plate 4 along the circumferential direction of the connecting plate, limiting pins 4-2 are.
Further, adjustable stopper 501 includes rubber pad and two adjustment sheets, and the rubber pad is located between two adjustment sheets, and adjustable stopper 501 passes through bolt and nut locking on the circular arc recess of knee joint body.
Further, the parallel connection elastic body 9 comprises an elastic body outer ring 901, an elastic body inner ring 903, six pairs of rectangular springs 902, three pairs of triangular blocks 905 and six pairs of elastic positioning pins 906, three dovetail blocks are uniformly processed on the elastic body inner ring 903 along the circumferential direction of the elastic body inner ring, three pairs of triangular blocks 905 are uniformly arranged on the inner wall of the elastic body outer ring 901 along the circumferential direction of the elastic body outer ring, each pair of triangular blocks 905 are arranged in parallel, the elastic body inner ring 903 is located in the elastic body outer ring 901, one end of each pair of rectangular springs 902 is in contact with one pair of triangular blocks 905, the other end of each pair of rectangular springs 902 is in contact with one corresponding dovetail block, and each rectangular spring 902 is positioned through one.
Further, the triangular block 905 is fixed to the elastomer outer ring 901 by a screw and a pressing force of the rectangular springs 902 on both sides.
Further, the parallel connection elastic body 9 further includes six pairs of ball pins 904, and a pair of ball pins 904 is disposed on both sides of each dovetail block of the elastic body inner ring 903.
Further, the reducer output shaft 8 comprises a connecting flange and a stepped shaft, the connecting flange is fixedly connected with the large end of the stepped shaft into a whole, and the connecting flange is fixedly arranged on the harmonic reducer 3 through a bolt.
Furthermore, one end of a shaft bracket of the parallel elastic body 9 is fixedly sleeved on the small end of the output shaft 8 of the speed reducer, and the parallel elastic body 9 is fixedly sleeved on the other end of the shaft bracket.
Compared with the prior art, the invention has the following beneficial effects:
the lower limb exoskeleton heterogeneous knee joint based on the parallel elastomer is a serial elastomer, so that the flexibility of the knee joint is increased, the bandwidth of control force is increased, the inner ring of the parallel elastomer is connected with the output shaft of a speed reducer, the outer ring of the parallel elastomer is connected with a thigh rod, and the angle difference is measured through a magnetic encoder and a motor encoder, so that the measurement of human-computer interaction force is further performed;
according to the lower limb exoskeleton heterogeneous knee joint based on the parallel elastomer, impact is relieved, joint flexibility is improved, comfort of a wearer is guaranteed, meanwhile, in order to detect joint torque of a human body, a magnetic encoder is adopted to obtain a rotation angle of an output end, a motor with an encoder is used as an input end rotation angle, and joint torque is obtained according to an angle difference of the two encoders and the rigidity parameter of the elastomer;
according to the parallel elastomer-based lower limb exoskeleton heterogeneous knee joint, dead points cannot appear when the leg is lifted, the knee joint body adopts a limiting mode to carry out heterogeneous structure on the knee joint, and the flexibility of joint movement is improved.
Drawings
FIG. 1 is an exploded view of the overall structure of a lower extremity exoskeleton heterogeneous knee joint based on parallel elastomers according to the present invention;
FIG. 2 is a schematic structural diagram of a parallel connection elastic body 9 according to a third embodiment of the present invention;
FIG. 3 is a cross-section of a shunt elastomer 9 according to a third embodiment of the invention;
FIG. 4 is a right side view of a knee joint body 9 in accordance with one embodiment of the present invention;
figure 5 is a front cross-sectional view of a lower extremity exoskeleton heterogeneous knee joint based on parallel elastomers, in accordance with the present invention.
Detailed Description
The first embodiment is as follows: as shown in fig. 1 to 5, the lower extremity exoskeleton heterogeneous knee joint based on a parallel elastomer according to the present embodiment includes a motor 1, a fixing cover 2, a harmonic reducer 3, a connecting plate 4, a knee joint body, a thigh rod connecting piece 5, a shank rod connecting piece 7 and a reducer output shaft 8, wherein an outer edge is provided at a lower end of the thigh rod connecting piece 5, the fixing cover 2 and the connecting plate 4 are arranged in parallel and fixedly mounted on the outer edge of the thigh rod connecting piece 5, the motor 1 is fixedly mounted on one end surface of the fixing cover 2, one end of the harmonic reducer 3 is fixedly mounted on the other end surface of the fixing cover 2, the other end of the harmonic reducer 3 is connected with the connecting plate 4, the reducer output shaft 8 is fixedly mounted on the harmonic reducer 3, the knee joint body is mounted on the reducer output shaft 8 through a deep groove 6, the upper end of the shank rod connecting piece 7 is fixedly mounted on, The magnetic encoder comprises a magnetic encoder magnetic ring 10, a magnetic encoder magnetic head 11 and an end cover 12, wherein the end cover 12 is fixedly arranged on the outer ring surface of a knee joint body through a flange, a parallel elastic body 9 is fixedly arranged in the end cover 12, the parallel elastic body 9 is fixedly connected with a reducer output shaft 8 through a shaft bracket in a coaxial mode, the magnetic encoder magnetic ring 10 is arranged on the knee joint body, the magnetic encoder magnetic head 11 is arranged on the parallel elastic body 9, the magnetic encoder magnetic ring 10 and the magnetic encoder magnetic head 11 are arranged oppositely, an arc groove is formed in the knee joint body along the outer edge of the knee joint body, two adjustable limiting blocks 501 are arranged in the arc groove, the arc groove is opposite to a connecting plate 4, a plurality of limiting holes 4-1 are formed in the connecting plate 4 along the circumferential direction of the connecting plate, limiting pins 4-2 are.
Because the lower limb robot has extreme singularity, dead points can appear when lifting legs, namely, the rod piece cannot be pushed even if the force on the driving piece is infinite, so that the knee joint cannot normally move, and even the human body is injured. In order to avoid the occurrence of singular points, the exoskeleton knee joint is subjected to angle isomerism. In order to realize the isomerism of the knee joint, the isomerism of the knee joint is shown in fig. 4, an adjustable limiting block 501 is used for mechanical limiting, and the isomerism angle can be set into three steps: 0 degrees, 20 degrees and 45 degrees, the adjustable limiting block 501 is matched with the limiting hole 4-1 through the limiting pin 4-2, and the heterogeneous angle is realized. For limiting the range of knee flexion and extension, wherein the elastic rubber blocks 506 may act as a cushion to avoid a purely rigid contact.
The second embodiment is as follows: as shown in fig. 4, the adjustable limiting block 501 of the present embodiment includes a rubber pad and two adjusting pieces, the rubber pad is located between the two adjusting pieces, and the adjustable limiting block 501 is locked on the arc groove of the knee joint body by bolts and nuts. By the design, when the adjustable limiting block 501 needs to be adjusted, the bolt and the nut are loosened, the adjustable limiting block 501 slides to a required position, and then the bolt and the nut are locked for limiting. Other components and connections are the same as those in the first embodiment.
The third concrete implementation mode: as shown in fig. 1 and 2, the parallel connection elastic body 9 of the present embodiment includes an elastic body outer ring 901, an elastic body inner ring 903, six pairs of rectangular springs 902, three pairs of triangular blocks 905, and six pairs of elastic positioning pins 906, three dovetail blocks are uniformly processed on the elastic body inner ring 903 along the circumferential direction, three pairs of triangular blocks 905 are uniformly arranged on the inner wall of the elastic body outer ring 901 along the circumferential direction, each pair of triangular blocks 905 are arranged in parallel, the elastic body inner ring 903 is located in the elastic body outer ring 901, one end of each pair of rectangular springs 902 is in contact with one pair of triangular blocks 905, the other end of each pair of rectangular springs 902 is in contact with a corresponding dovetail block, and each rectangular spring 902 is positioned by one elastic positioning pin 906. According to the design, the parallel connection elastic body 9 realizes the relative rotation of the inner ring and the outer ring by utilizing the compression deformation of the rectangular springs, adopts a parallel connection mode to design the elastic body in order to meet the requirement of small size and large rigidity of the elastic body, and meets the requirement of the rigidity of the elastic body by selecting the small size rectangular springs, so that the stability of the motion process can be ensured. Other components and connection relationships are the same as those in the first or second embodiment.
One end of a rectangular spring 902 is in plane contact with a triangular block 905 on an elastomer outer ring 901, the other end of the rectangular spring is in plane contact with a dovetail block on an elastomer inner ring 903, in order to enable the assembling process to be simple and convenient, the structure of the outer ring is made into a split type and comprises the triangular block 905 and the elastomer outer ring 901, the triangular block 905 is fixed with the outer ring under the pressure action of a screw and a spring, a spring positioning pin is connected to the triangular block 905 through a thread, the main function of the spring positioning pin is to limit the radial displacement of the spring, the triangular block 905, the elastic positioning pin 906 and the rectangular spring 902 are pressed into a gap between the inner ring and the outer ring together during installation, and the.
The fourth concrete implementation mode: as shown in fig. 3, the triangular block 905 of the present embodiment is fixed to the elastomer outer ring 901 by a screw and the pressure of the rectangular springs 902 on both sides. So design, can realize that the spring is to three hornblocks 905 forward pressure application, can improve power transmission efficiency, three hornblocks 905 pass through bolted connection easy to assemble and dismantle, can change the spring as required. Other components and connection relationships are the same as those in the third embodiment.
The fifth concrete implementation mode: as shown in fig. 1 and 2, the parallel connection elastic body 9 of the present embodiment further includes six pairs of ball pins 904, and a pair of ball pins 904 is provided on both sides of each dovetail block of the elastic body inner ring 903. So design, rotary motion during owing to the relative motion of outer lane, at rotation in-process inner ring will with the separation of spring terminal surface, make the spring atress not along the axis direction, and then produce the bending, cause danger easily, so through bulb pin joint between inner ring plane and the spring terminal surface, including outer lane relative pivoted in-process spring and sphere can remain line contact all the time like this, can guarantee the stability of motion process. The other components and the connection relations are the same as those of the first, second or fourth embodiment.
The sixth specific implementation mode: as shown in fig. 5, the output shaft 8 of the speed reducer of the present embodiment includes a connecting flange and a stepped shaft, the connecting flange is fixedly connected to the large end of the stepped shaft, and the connecting flange is fixedly mounted on the harmonic speed reducer 3 by bolts. By the design, the joint is compact in structure, and the axial size of the joint shaft is reduced. The other components and the connection relationship are the same as those in the fifth embodiment.
The seventh embodiment: as shown in fig. 5, one end of the shaft bracket of the parallel elastic body 9 of the present embodiment is fixedly fitted over the small end of the output shaft 8 of the speed reducer, and the parallel elastic body 9 is fixedly fitted over the other end of the shaft bracket. So design can realize linking elastomer 9, pedestal and reduction gear output shaft 8 that connect in parallel together, realizes the power transmission of output shaft to the elastomer, makes things convenient for the installation of magnetic encoder magnetic ring 10, magnetic encoder magnetic head 11 in addition, realizes the effect that magnetic encoder detected the angle. The other components and the connection relationship are the same as those in the fifth embodiment.
The above is only a preferred embodiment of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and equivalents can be made without departing from the spirit of the invention, and it is intended that all such modifications and equivalents fall within the scope of the invention as defined in the claims.
The working principle is as follows:
a motor 1, a fixed cover 2, a harmonic reducer 3, a connecting plate 4, a knee joint body, a thigh rod connecting piece 5, a shank rod connecting piece 7 and a reducer output shaft 8,
the motor 1 rotates to drive the harmonic reducer 3 to rotate, the harmonic reducer 3 amplifies the torque of the motor 1, the motor 1 and the harmonic reducer 3 are connected together through the fixing cover 2, the reducer output shaft 8 is connected to the harmonic reducer 3, the reducer output shaft 8 is connected with the inner ring of the parallel elastic body 9 through a shaft bracket, the outer ring of the parallel elastic body 9 is connected with the end cover 12, and the end cover 12 is connected with the shank rod connecting piece 7 through the knee joint body; according to the invention, the harmonic reducer 3 is driven to rotate by the rotation of the motor 1, the reducer output shaft 8 drives the parallel connection elastic body 9 to move, the parallel connection elastic body 9 is connected with the shank rod connecting piece 7 through the end cover 12, and finally, the torque movement force is transmitted to the shank rod connecting piece 7.
Claims (7)
1. The utility model provides a different structure knee joint of low limbs ectoskeleton based on parallelly connected elastomer, different structure knee joint of low limbs ectoskeleton includes motor (1), fixed lid (2), harmonic speed reducer ware (3), connecting plate (4), knee joint body, thigh pole connecting piece (5), shank pole connecting piece (7) and reduction gear output shaft (8), its characterized in that: the lower end of a thigh rod connecting piece (5) is provided with an outer edge, a fixed cover (2) and a connecting plate (4) are arranged in parallel and fixedly arranged on the outer edge of the thigh rod connecting piece (5), a motor (1) is fixedly arranged on one end face of the fixed cover (2), one end of a harmonic reducer (3) is fixedly arranged on the other end face of the fixed cover (2), the other end of the harmonic reducer (3) is connected with the connecting plate (4), a reducer output shaft (8) is fixedly arranged on the harmonic reducer (3), a knee joint body is arranged on the reducer output shaft (8) through a deep groove ball bearing (6), the upper end of a shank rod connecting piece (7) is fixedly arranged on the lower part of the knee joint body, the lower limb exoskeleton heterogeneous knee joint further comprises a parallel connection elastomer (9), a magnetic encoder magnetic ring (10), a magnetic encoder magnetic head (11) and an end cover (12), and the end cover (12) is fixedly arranged, parallelly connected elastomer (9) are adorned admittedly in end cover (12), parallelly connected elastomer (9) are through pedestal and the coaxial rigid coupling of reduction gear output shaft (8), install on the knee joint body magnetic encoder magnetic ring (10), install on parallelly connected elastomer (9) magnetic encoder magnetic head (11), magnetic encoder magnetic ring (10) and magnetic encoder magnetic head (11) set up relatively, there is the circular arc recess along its outer edge processing on the knee joint body, be provided with two adjustable stoppers (501) in the circular arc recess, the different structure angle of adjustable stopper (501) can set up to three shelves: the angle of the adjustable limiting block (501) is 0 degree, 20 degrees and 45 degrees, and the angle of the adjustable limiting block is different through the matching use of the limiting pin (4-2) and the limiting hole (4-1); the arc groove is arranged right opposite to the connecting plate (4), a plurality of limiting holes (4-1) are machined in the connecting plate (4) along the circumferential direction of the connecting plate, limiting pins (4-2) are inserted in the connecting plate (4), and elastic rubber blocks (506) are arranged between the adjustable limiting blocks (501) and the limiting pins (4-2).
2. The parallel elastomer-based lower extremity exoskeleton heterogeneous knee joint of claim 1, wherein: the adjustable limiting block (501) comprises a rubber pad and two adjusting sheets, the rubber pad is located between the two adjusting sheets, and the adjustable limiting block (501) is locked on the arc groove of the knee joint body through bolts and nuts.
3. The parallel elastomer-based lower extremity exoskeleton heterogeneous knee joint of claim 1 or 2, wherein: the parallel connection elastic body (9) comprises an elastic body outer ring (901), an elastic body inner ring (903), six pairs of rectangular springs (902), three pairs of triangular blocks (905) and six pairs of elastic positioning pins (906), three dovetail blocks are uniformly processed on the elastic body inner ring (903) along the circumferential direction of the elastic body inner ring, three pairs of triangular blocks (905) are uniformly arranged on the inner wall of the elastic body outer ring (901) along the circumferential direction of the elastic body outer ring, each pair of triangular blocks (905) are arranged in parallel, the elastic body inner ring (903) is located in the elastic body outer ring (901), one end of each pair of rectangular springs (902) is in contact with one pair of triangular blocks (905), the other end of each pair of rectangular springs (902) is in contact with one corresponding dovetail block, and each rectangular spring (902) is positioned through one elastic positioning pin (.
4. The parallel elastomer-based lower extremity exoskeleton heterogeneous knee joint of claim 3, wherein: the triangular block (905) is fixed with the elastic body outer ring (901) through the pressure action of the screw and the rectangular springs (902) on two sides.
5. The parallel elastomer-based lower extremity exoskeleton heterogeneous knee joint of claim 1, 2 or 4, wherein: the parallel connection elastic body (9) further comprises six pairs of ball pins (904), and a pair of ball pins (904) is arranged on two sides of each dovetail block of the elastic body inner ring (903).
6. The parallel elastomer-based lower extremity exoskeleton heterogeneous knee joint of claim 5, wherein: the reducer output shaft (8) comprises a connecting flange and a stepped shaft, the connecting flange is fixedly connected with the large end of the stepped shaft into a whole, and the connecting flange is fixedly arranged on the harmonic reducer (3) through a bolt.
7. The parallel elastomer-based lower extremity exoskeleton heterogeneous knee joint of claim 1, 2, 4 or 6, wherein: one end of a shaft bracket of the parallel connection elastic body (9) is fixedly sleeved on the small end of the output shaft (8) of the speed reducer, and the parallel connection elastic body (9) is fixedly sleeved on the other end of the shaft bracket.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811238685.8A CN109528453B (en) | 2018-10-23 | 2018-10-23 | Lower limb exoskeleton heterogeneous knee joint based on parallel elastomers |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811238685.8A CN109528453B (en) | 2018-10-23 | 2018-10-23 | Lower limb exoskeleton heterogeneous knee joint based on parallel elastomers |
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| CN109528453A CN109528453A (en) | 2019-03-29 |
| CN109528453B true CN109528453B (en) | 2021-06-15 |
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| CN111166614A (en) * | 2020-01-20 | 2020-05-19 | 深圳市丞辉威世智能科技有限公司 | Leg limiting mechanism with knee hyperextension protection function and exoskeleton robot |
| CN112792803A (en) * | 2020-11-30 | 2021-05-14 | 武汉大学 | Series elastic driver suitable for upper limb rehabilitation exoskeleton robot |
| CN112549001B (en) * | 2020-12-22 | 2022-06-10 | 上海航天控制技术研究所 | Exoskeleton joint force position composite compliance control method and system based on elastic element |
| CN113440372B (en) * | 2021-04-16 | 2022-05-24 | 北京航空航天大学 | Flexibly-driven knee joint exoskeleton |
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| CN106641057B (en) * | 2016-11-28 | 2018-10-19 | 杭州电子科技大学 | A kind of double layer planar torsional spring for submissive joint |
| CN107309865A (en) * | 2017-06-29 | 2017-11-03 | 东北大学 | A kind of series elastic driver |
| CN108186294B (en) * | 2018-01-16 | 2024-01-19 | 浙江大学 | Lower limb rehabilitation exoskeleton system and master-slave adjustable joint thereof |
| CN108378968B (en) * | 2018-03-29 | 2023-05-05 | 北京大学第三医院 | Knee joint cruciate ligament brace and manufacturing method thereof |
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