CN109773755A - A kind of wearable knee joint assistance exoskeleton robot of no driving - Google Patents
A kind of wearable knee joint assistance exoskeleton robot of no driving Download PDFInfo
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- CN109773755A CN109773755A CN201811614839.9A CN201811614839A CN109773755A CN 109773755 A CN109773755 A CN 109773755A CN 201811614839 A CN201811614839 A CN 201811614839A CN 109773755 A CN109773755 A CN 109773755A
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Abstract
The invention discloses a kind of wearable knee joint assistance exoskeleton robots of no driving, including big leg restraint gear, small leg restraint gear, clutch, knee joint swing mechanism, two sides thigh support frame, small leg support, big leg restraint gear, small leg restraint gear are slidably fixed on thigh support frame top, small leg support lower part respectively；Clutch is set on thigh support frame, it is provided with positive extension spring, negative drawing spring in the side small leg support, rotates in the forward direction wirerope, reversely rotate wirerope, passes through the bending locking and stretching, extension power-assisted being connected when knee joint revolution is provided after rotating in the forward direction wirerope, reversely rotating steel wire penetrating knee joint swing mechanism with clutch.The present invention is fitted human body knee joint kinetic characteristic using Intelligent clutch structure, realizes that locking and the switching of unlocking process are carried out without drive-type knee joint power-assisted can effectively mitigate the burden of movable joint to reach energy-saving power-boost effect, Portable light cost is lower.
Description
Technical field
The present invention relates to a kind of wearable knee joint assistance exoskeleton robots of no driving, belong to assistance exoskeleton machine
People's technical field.
Background technique
Exoskeleton robot be it is a kind of in parallel can be worn on the limbs of people, for people movement provide additional power or
Power-assisted enhances the intelligent machine system of function of human body, can allow an operator to easily complete many difficult activities and appoint
Business.The development and application of assistance exoskeleton robot system are broadly divided into two class of civil and military.Civilian aspect is mainly used for auxiliary
Help disabled person, the elderly and the patient's walking for losing componental movement ability；Military aspect is mainly used to enhance the work of rank
Industry ability improves the endurance and physical strength of soldier in military activity and training process.
The drive system of traditional rigid structure lower limb exoskeleton robot mainly includes motor driven, hydraulic-driven, gas
The types such as cylinder driving and Pneumatic artificial muscle driving, but this kind of exoskeleton robot for needing drive system is with many
Deficiency, as mechanical structure ontology is more heavy, energy consumption is higher, portability is poor.Rigid mechanism, can not due to being connected in parallel on human external
It is overlapped with human synovial center, coupled is poor, it is difficult to meet the harmony and accuracy requirement of human-computer interaction.
In the patent of invention of patent No. CN105856196A, a kind of knee joint ectoskeleton power assisting device is disclosed, by small
Leg rod piece, cam mechanism, locking mechanism, thigh rod piece and hydraulic mechanism composition, by thigh rod piece and shank rod piece it
Between cam mechanism is set, driving force is provided using hydraulic cylinder, so that thigh rod piece and shank rod piece are realized closer to human body reality
Rotation.But entirely mechanical mechanism is more heavy, needs hydraulic-driven, is unable to reach energy-efficient effect.
In the patent of invention of patent No. CN107811805A, a kind of wearable lower limb exoskeleton rehabilitation machines are disclosed
Device people is made of, it is characterised in that knee joint hip joint component, knee components, foot's component, motor, harmonic speed reducer etc.
Using four-bar mechanism, by ankle knee linkage mechanism, user is locked in support phase with this, is freely transported in swing phase unlock
It is dynamic.But overall mechanism is more complicated, structure bulky, and wearing is inconvenient.
In the patent of invention of patent No. CN105943316B, a kind of human body lower limbs dermoskeleton for having resilient structure is disclosed
Bone, by improving the joint pivot structure of human body lower limbs ectoskeleton, in waist, hip joint, thigh, shank and ankles bit
Debooster is increased separately, so that the passive-type human body lower limbs ectoskeleton with debooster can reduce the load of wearer.
But overall configuration is complicated, for structure than cumbersome, wearing is inconvenient.
Lower limb exoskeleton robot is more complicated system, mainly include dynamical system, mechanical system, control system,
Man-machine interactive system etc..Wherein the aspect of building of the control of lower limb and Design of Mechanical Structure and dynamical system be difficult point is also weight
Point.Traditional lower limb exoskeleton requires independent power source in the stage of each joint assistance and provides power-assisted, this is on the one hand
The complexity of overall configuration and the weight of equipment are increased, the energy consumption of body metabolism is increased, on the other hand, lower limb are whole
Series includes that the Union Movement control of hip joint, knee joint and ankle-joint ectoskeleton seems especially complicated.
Therefore how to design and meet human cinology's characteristic, improve wearable ectoskeleton to the power-assisted effect of human body, simplify
Mechanical system, dynamical system and the control system of lower limb exoskeleton robot, reduce the energy consumption of walking process, be one must
It need consider the problems of.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of wearable knee of no driving
Joint assistance exoskeleton robot is realized without drive-type knee joint power-assisted using the mechanism of clutch, is locked and unlocked
The switching of journey can effectively mitigate the burden of movable joint, Portable light cost is lower to reach energy-saving power-boost effect.
Technical solution: to achieve the above object, the technical solution adopted by the present invention are as follows:
A kind of wearable knee joint assistance exoskeleton robot of no driving, including big leg restraint gear, the fixed machine of shank
Structure, clutch, knee joint swing mechanism and two sides thigh support frame；
Wherein, every side thigh support frame lower part is connected with small leg support by knee joint swing mechanism, and thigh is fixed
Mechanism, small leg restraint gear are slidably fixed on thigh support frame top, small leg support lower part respectively；The clutch is set to people
On the thigh support frame of external side, and positive extension spring, negative drawing spring are provided in the side small leg support；The positive drawing
Spring is stretched, is connected separately on negative drawing spring and is rotated in the forward direction wirerope, reversely rotates wirerope, by rotating in the forward direction steel wire
Rope reversely rotates the bending locking being connected when providing knee joint revolution after steel wire penetrating knee joint swing mechanism with clutch
With stretching, extension power-assisted.
Further, the clutch includes front pedestal positioned opposite, reverse side pedestal and is installed on front base
Pawl shaft, positive reel between seat, reverse side pedestal, reversed reel, positive ratchet, reversed ratchet；
Wherein, the positive reel, reversed reel are symmetrically distributed in pawl shaft two sides, and positive ratchet, reversed spine
Wheel is rotatablely installed with positive reel, reversed reel coaxial synchronous respectively；Positive pawl, reversed is socketed in the pawl shaft
Pawl, and rotate in the forward direction wirerope, reversely rotate wirerope and be wire-wrapped in positive reel respectively, on reversed reel；
The side that the forward direction reel, reversed reel are bonded with front pedestal, reverse side pedestal respectively is provided with annular
Groove is respectively arranged with the positive torsionspring being connected with front pedestal, reverse side pedestal, turn-back spring in annular groove；
Periphery on the forward direction reel along positive ratchet is disposed with locking node backing pin, unlock node backing pin, passes through respectively
Locking node backing pin, unlock node backing pin stir positive pawl and realize positive pawl and positive ratchet meshing state, reversed pawl
With the switching of reversed ratchet meshing state.
Further, it is provided with stop pedestal below the positive ratchet, and is connected with spring-loaded plunger on stop pedestal, led to
The elastic cambered surface for crossing spring-loaded plunger upper end resists elastic spacing when positive pawl bottom arc surface realizes positive pawl rotation.
Further, it is provided with leading block below the stop pedestal, is realized by leading block and reversely rotates steel wire
Rope is from reversed reel to the guiding of knee joint swing mechanism.
Further, the knee joint swing mechanism include thigh rotating shaft, shank rotating shaft, thigh revolution fixed disk,
Shank turns round fixed disk, positive transition pulley, reverse transition pulley, encoder and encoder fixed disk；
Wherein, the shank rotating shaft is socketed in thigh rotating shaft one end by inscribed bearing, and outer end and shank return
Turn fixed disk to fix；The thigh revolution fixed disk is fixed on the outside of thigh rotating shaft, and positive transition pulley, reverse transition are sliding
Wheel is socketed on the outside of thigh rotating shaft by external bearing；Thigh rotating shaft turns round fixed disk by thigh and thigh support frame is solid
Fixed, shank rotating shaft turns round fixed disk by shank and fixes with small leg support；The encoder is fixed by encoder fixed disk
In the thigh rotating shaft other end, the angle that thigh rotating shaft and shank rotating shaft relatively rotate is measured by encoder.
Further, the big leg restraint gear includes thigh fixed pedestal and elastic bands, and on thigh fixed pedestal
Sliding slot compatible with thigh support frame is offered, realizes that the sliding of thigh support frame and the sliding slot is fixed by Quick Release fixing clamp.
Further, the small leg restraint gear includes shank fixed pedestal and elastic bands, and on shank fixed pedestal
Sliding slot compatible with small leg support is offered, realizes that the sliding of thigh support frame and the sliding slot is fixed by Quick Release fixing clamp.
The utility model has the advantages that a kind of wearable knee joint assistance exoskeleton robot of no driving provided by the invention, relative to
The prior art has the advantage that
1, traditional rehabilitation exoskeleton robot using rigid structure directly adds driving mechanism in joint, whole
Heaviness, and the present invention realizes that the knee joint power-assisted without drive-type acts on using the mechanism of clutch, carries out locking and unlocking process
Switching to reaching energy-saving power-boost effect, can effectively mitigate the burden of movable joint, realize light-weighted structure design,
And Portable light cost is lower；
2, using two ratchet and pawl arrangements in thigh two sides power-assisted, ectoskeleton is deposited when human body does negative work during walking
Energy storage capacity, human body release energy when doing positive work and provide power-assisted, reduce the energy consumption of walking process, and the electricity relative to joint
Machine drive-type ectoskeleton weight is lighter, also more energy efficient；
3, using the kinetic characteristic of ratchet and pawl arrangement fitting human body knee joint, wearer's knee in support phase is made with this
Joint locking, in swing phase, knee joint free movement, ectoskeleton do not need control system, simple to realize by depositing mechanical system,
More secure and reliable；
4, the position that big leg restraint gear and small leg restraint gear are adjusted using the fixed clamp device of Quick Release, allows adaptation to difference
The use of crowd facilitates adjustment, flexibly comfortable.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the embodiment of the present invention；
Fig. 2 is the perspective view of the explosion of clutch in the embodiment of the present invention；
Fig. 3 is the side view of clutch in the embodiment of the present invention；
Fig. 4 is the cooperation figure of pawl structures and stop pedestal in the embodiment of the present invention；
Fig. 5 is the cross-sectional view of knee joint swing mechanism in the embodiment of the present invention；
Fig. 6 is the structural schematic diagram of Quick Release fixing clamp in the embodiment of the present invention；
Fig. 7 is the structural schematic diagram of Zhong great of embodiment of the present invention leg restraint gear；
Fig. 8 is the structural schematic diagram of Zhong little of embodiment of the present invention leg restraint gear；
Fig. 9 a-9c is respectively knee joint angle in the embodiment of the present invention, knee joint torque, knee joint power with gait percentage
The variation diagram of ratio；
It include: 1, big leg restraint gear, 2, clutch, 3, knee joint swing mechanism, 4, small leg support, 5, thigh in figure
Bracket, 6, small leg restraint gear, 7, negative drawing spring, 8, positive extension spring, 9, rotate in the forward direction wirerope, 10, reversed rotation
Turn wirerope,
21, positive torsionspring, 22, positive reel, 23, positive ratchet, 24, positive pawl, 25, reversed ratchet, 26,
Reversed reel, 27, turn-back spring, 28, reversed pawl, 29, axle sleeve, 210, pawl shaft, 211, spring-loaded plunger, 212, only
Dynamic pedestal, 213, leading block, 214, reverse side pedestal, 215, front pedestal, 216, locking node backing pin, 217, unlock node gear
Pin,
31, shank turns round fixed disk, 32, shank rotating shaft, 33, circlip, 34, thigh rotating shaft, 35, positive transition cunning
Wheel, 36, hexagonal flange end face nut, 37, encoder fixed disk, 38, encoder connector, 39, encoder, 310, reverse transition
Pulley,
51, thigh fixed pedestal, 52, thigh Quick Release fixing clamp, 53, thigh elastic bands,
61, shank fixed pedestal, 62, shank Quick Release fixing clamp, 63, shank elastic bands.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawings and embodiments.
It is as shown in Figure 1 a kind of wearable knee joint assistance exoskeleton robot of no driving, comprising:
1) total system
Knee joint ectoskeleton is through on human body knee joint, is fixed on leg by big leg restraint gear and small leg restraint gear
Power-assisted is provided.The wirerope stretched out in clutch passes through knee joint turn-around machine via the guiding of ectoskeleton lateral thigh bracket
Structure is connected on the spring of the fixed mechanism in small leg support through pulley transition, and small leg support is flat on the outside of the spring and ectoskeleton
Row.When local inclination occurs for thigh and shank, tensional state is in by the effect spring of clutch internal clutch.Thigh with
When shank stretches relatively, spring gradually replys original state, and wirerope, which is shunk, provides power-assisted.
2) clutch
System uses the form without driving, human body knee joint kinetic characteristic is fitted using Intelligent clutch structure, without outer
The intervention of portion's power source, structure are as in Figure 2-4.
Positive pawl and reversed pawl are integrally fixed in intermediate pawl shaft, and positive pawl is realized circumferential solid by key
It is fixed, axial restraint is realized by the shaft shoulder and axle sleeve.Positive pawl least significant end is one section of circular arc, and two sides have round and smooth scrobicula
Slot.
Positive pawl engage with positive ratchet, and reversed ratchet and positive ratchet are symmetrically distributed in pawl shaft two sides, forward direction around
Line wheel and positive coaxial ratchet rotate synchronously installation；Positive reel outer end face system there are two threaded hole (center radius not
Deng concentric circles on), for connecting two node backing pins.Backing pin is used to stir detent mechanism in different gait phases, so that
It can guarantee the locked switching with free state of wirerope.
Reversed pawl and reversed ratchet are in vacant state, and reversed reel and reversed coaxial ratchet rotate synchronously installation；
The inside of positive reel and reversed reel is provided with groove, is fixed with torsionspring in inside grooves, reverses bullet
One end of spring is fixed on the bearing spider of clutch drive, and the other end is fixed on the inner wall of pulley groove.
It is fixed with a stop pedestal immediately below pawl shaft, is provided with spiral shell immediately below positive pawl in brake feet
Pit, spring-loaded plunger is used to be threaded on stop pedestal, and it is minimum that the elastic cambered surface of spring-loaded plunger upper end resists positive pawl
Circular arc is held, plays position-limiting action, positive pawl can the left and right deflecting under the support of spring-loaded plunger.
There are a pulley blocks below stop pedestal, the commutation effect that wirerope exports on reversed reel.
Rope is arranged as the fixation on reel of rope one end in entire clutch structure, successively wears around reel, pulley
Out.
3) knee joint swing mechanism
As shown in figure 5, knee joint swing mechanism mainly turns round fixed disk, mistake by thigh rotating shaft, shank rotating shaft, shank
Cross pulley, encoder and encoder fixed disk composition.
Thigh rotating shaft and thigh revolution fixed disk are overall processings, are provided with aperture greater than small at the center of thigh rotating shaft
The step through-hole of leg rotating shaft maximum diameter of axle size, and it is provided with jump-ring slot.It is one section of external screw thread that shank, which turns round the tip of the axis, small
The circular groove with shank revolution reel size is provided in leg revolution fixed disk, shank rotating shaft passes through with shank revolution fixed disk
It is threadedly coupled.Shank rotating shaft is inscribed in thigh rotating shaft by two bearings, and the side of interior joint bearing passes through thigh rotating shaft
The shaft shoulder of center step through-hole, the other side carry out axially position by circlip, pass through hexagonal flange in shank revolution the tip of the axis
End face nut fixing bearing guarantees the relative rotation for realizing thigh rotating shaft and shank rotating shaft.
It is mutually suitable with thigh support frame and small leg support to have in thigh revolution fixed disk and shank revolution fixed disk
The deep groove of size, and threaded hole is provided with across deep groove in the end face of revolution fixed disk, lead to thigh support frame and small leg support
Threaded connection is crossed to fix.
Two transition pulleys are successively assemblied on thigh rotating shaft, and it is axial fixed to be carried out by the shaft shoulder on thigh rotating shaft
The end face of position, the separate thigh revolution fixed disk of thigh rotating shaft is provided with threaded hole, and encoder is threadedly attached in encoder
In fixed disk, then the end face for being then provided with threaded hole entirely through thigh rotating shaft is threaded in is fixed by encoder
Disk carries out axial restraint to transition pulley.
The shell of knee joint swing mechanism is divided into thigh rotating shaft side end cap and shank rotating shaft side end cap, from clutch structure
Deep trench on the steel wire penetrating thigh rotating shaft side end cap of output, is changed around the transition pulley on thigh rotating shaft
To wirerope approximation is parallel with small leg support to be exported.
4) thigh support frame component
Thigh support frame is divided into inner side and outer side two parts.One section of long through slot is provided on the thigh support frame of two sides, for adjusting
The position of big leg restraint gear.The top half of lateral thigh bracket is applied in driving mechanism, and the lower end of outrigger passes through
It is threaded in the deep groove of thigh revolution fixed disk, medial cradle lower end is threadedly attached in shank revolution fixed disk
In deep groove.
5) small leg support component
Small leg support is divided into inner side and outer side two parts.Two sides small leg support lower end is provided with one section of long through slot, for adjusting
The position of Jie little leg restraint gear.It is connected through a screw thread a spring end fixed pedestal in the small leg support of outside, is opened on pedestal
There is threaded hole, is used for connecting spring pull ring.The upper end of outrigger is threadedly attached in the deep groove of shank revolution fixed disk
In, the upper end of medial cradle is threadedly attached in the deep groove of shank revolution fixed disk.
Extension spring is threadedly attached on the fixed pedestal of end, and one end of extension spring is fixed on pull ring, another
End is fixedly connected with the wirerope exported from knee joint swing mechanism.
6) big leg restraint gear
As shown in fig. 6-7, big leg restraint gear is made of slidable thigh fixed pedestal and polyester fiber elastic bands.
Thigh fixed pedestal can mutually agree in arc-shaped with the thigh shape of human body, increase comfort level.Polyester fiber bandage passes through suture
Technology is fixed on two tacks that thigh fixed pedestal two sides extend back.The two sides of thigh fixed pedestal be provided with greatly
The through slot of leg support same size is provided with the sliding slot of thigh support frame width size on the inside of thigh fixed pedestal, guarantees thigh
Bracket can nest into thigh fixed pedestal and free to slide.It is provided with one section of gap simultaneously on the outside of thigh fixed pedestal, is protected
Card Quick Release fixing clamp is engaged with thigh fixed pedestal and thigh support frame.Thigh fixed pedestal can be along big when Quick Release fixing clamp unclamps
Leg support direction is free to slide, and thigh fixed pedestal and thigh support frame position are fixed when locking, adapts to the use of different crowd.
7) small leg restraint gear
As shown in figure 8, small leg restraint gear is made of slidable shank fixed pedestal and polyester fiber elastic bands.It is small
Leg fixed pedestal is similar to thigh base configurations, can mutually agree with the shank shape of human body in arc-shaped, improves comfort level.Polyester
Fiber bandage is fixed on two tacks that shank fixed pedestal two sides extend back by suturing skill.In the fixed base of shank
The two sides of seat are provided with the through slot with small leg support same size, and small leg support width size is provided on the inside of shank fixed pedestal
Sliding slot, it is in shank fixed pedestal and free to slide to guarantee that small leg support can nest into.On the outside of shank fixed pedestal simultaneously
It is provided with one section of gap, guarantees that Quick Release fixing clamp is engaged with shank fixed pedestal and small leg support.Shank when Quick Release fixing clamp unclamps
Fixed pedestal can be free to slide along small leg support direction, and shank fixed pedestal and small leg support position are fixed when locking, adapts to
The use of different crowd.
8) cord element
Rope in the present invention is divided into two parts.It rotates in the forward direction wirerope the initial segment to be fixed on positive reel, bypass
After positive reel with thigh support frame less parallel stretch out, by knee joint swing mechanism side roller guiding after with small leg support
Parallel positive extension spring connection.It reversely rotates wirerope the initial segment to be fixed on reversed reel, bypasses reversed reel
It is stretched out by after the transition pulley blocks guiding in mechanism of overdriving with thigh support frame less parallel, further around knee joint swing mechanism excessively
It is connected after outer side roller in the negative drawing spring parallel with small leg support.
The present invention, come kinetic characteristic kneed when being fitted human motion, is made using the combination of click and extension spring
User in support phase early period knee joint lock, the later period provide power-assisted, in swing phase knee joint can free movement, no
Inhibition can be played.
A specific embodiment of the invention is as follows:
Ectoskeleton is worn on human leg, and clutch 2 is fixed on thigh support frame 4, provides power-assisted for knee joint.It is positive
Rotating wire rope 9 bypasses positive reel 22, stretches out from clutch 2, further around the positive mistake crossed in knee joint swing mechanism 3
Pulley 35 is crossed, the positive drawing that wirerope 9 is pierced by the fixed pedestal of rear connecting spring end from knee joint swing mechanism 3 is rotated in the forward direction
Stretch spring 8；It reversely rotates wirerope 10 to be oriented to around reversed reel 26 by leading block 213, be turned round further around knee joint is crossed
Reverse transition pulley 310 in mechanism 3 reversely rotates wirerope 10 from knee joint swing mechanism 3 and is pierced by rear connecting spring end
Negative drawing spring 7 on fixed pedestal.
Positive reel 22 and reversed reel 26 are symmetrically distributed in 210 two sides of pawl shaft, positive pawl 24 can with just
Positive ratchet 23 on reel 22 engages, and reversed pawl 28 can be engaged with the reversed ratchet 25 on reversed reel 26,
Driving force is provided by fitting human body knee joint kinetic characteristic for mechanism.Positive pawl 24 and reversed pawl 28 are circumferentially solid by key
It is scheduled in pawl shaft 210, and axially position is carried out by axle sleeve 29.A stop pedestal is fixed in the underface of pawl shaft 210
212.It is provided with tapped through hole on stop pedestal 212, positioned at the underface of positive pawl 24, spring-loaded plunger 211 and stop pedestal 212
It is connected through a screw thread, the bottom arc section Elastic Contact on the top of spring-loaded plunger 211 and positive pawl 24,211 energy of spring-loaded plunger
Enough rotations for limiting positive pawl 24.
The Ith stage of motion of knee joint i.e. since the initial position of gait, when people heelstrike when, kneed bending
Angle is about at 10 degree, at this time since amount of bow in advance can be such that positive wirerope 9 pre-tightens, as positive reel 22 rotates band
Dynamic locking node backing pin 216 rotates, and locking node backing pin 216 is stirred positive pawl 24 and engaged with positive ratchet 23 after rotating, this
When motion of knee joint be in support phase.It can be seen that the continuous increase with knee flexion angles from Fig. 9 a-9c, due to just
It engaging to pawl 24 with positive ratchet 23, positive reel 22 is not able to rotate in locking state under the effect of stop pedestal, this
Shi Renti does negative work, and positive extension spring 8 is stretched, and stores energy；IIth stage, knee closed from 16% to 44% of gait or so
Section movement is still within support phase, and as knee joint angle reduces, positive extension spring 8 is started to shrink, and human body does positive work at this time,
And positive reel 22 reversely rotates to drive and rotates in the forward direction the tightening of wirerope 9, releases energy, provides power-assisted；IIIth stage be from
The 44% of gait starts, due to the return action of positive torsionspring 21, as the IIth stage forward direction reel 22 passes through reversely
Rotation drives positive wirerope 9 to shrink, and the reverse rotation of positive reel 22, drives unlock node backing pin 219 to rotate, unlock
Node backing pin 219 is stirred positive pawl 24 just at this moment and is separated with positive ratchet 23, while reversed pawl 28 and reversed ratchet 25
Engagement, motion of knee joint are in swing phase, and knee joint angle increases, since reversed pawl 28 is engaged with reversed ratchet 25, reversely
Reel 26 is not able to rotate in locking state, and human body does negative work at this time, and negative drawing spring 7 is stretched, and stores energy；IVth
Stage, motion of knee joint are still within swing phase, and knee joint angle is reduced, and human body is substantially the positive work for doing very little, negative drawing
Spring 7 starts to shrink, and reversed reel 26, which reversely rotates to drive, reversely rotates the tightening of wirerope 10, then releases energy, to mention
For power-assisted until next gait cycle.
Thigh support frame 5 is threadedly attached in the revolution fixed disk 31 of the thigh in knee joint swing mechanism 3, small leg support
4 are threadedly attached in the shank revolution fixed disk 31 in knee joint swing mechanism 3.Shank revolution fixed disk 31 passes through screw thread
It is connect with shank rotating shaft 32.Shank rotating shaft 32 is inscribed in thigh rotating shaft 34 by two groups of deep groove ball bearings, by big
The shaft shoulder of 34 inner hole of leg rotating shaft carries out axially position, carries out axial restraint by circlip 33, passes through hexagonal flange end face nut
36 is mechanical locking in the progress of 32 threaded end of shank rotating shaft.Positive transition pulley 35 and reverse transition pulley 310 are installed side by side
On thigh rotating shaft 34, axially position is carried out by the shaft shoulder, coding is connected through a screw thread on the end face of thigh rotating shaft 34
Device fixed disk 37 carries out the axial restraint of positive transition pulley 35 and reverse transition pulley 310.The outer ring of encoder 39 passes through spiral shell
Line is connect with encoder fixed disk 37, and the rotary shaft of encoder 39 is fixed on shank rotating shaft 32 by encoder connector 38
Inner hole guarantees to rotate synchronously.Encoder 39 is for measuring kneed bending angle when human motion.
It can be realized the lift adjustment of thigh fixed pedestal 51, shank in big leg restraint gear 3 by Quick Release fixing clamp 52
The lift adjustment that can be realized shank fixed pedestal 61 in fixed mechanism 6 by Quick Release fixing clamp 62 can guarantee to be applicable in difference
User.
The outside of knee joint ectoskeleton is similar with inside structure, and 5 one end of thigh support frame is connect with knee joint swing mechanism 3,
One end is connect with big leg restraint gear, and 4 one end of small leg support is connect with knee joint swing mechanism 3, the other end and the fixed machine of shank
Structure connection thus constitutes entire closing mechanical system.
Thigh fixed pedestal 51 is fixed by thigh elastic bands 53 in conjunction with wearer's thigh.Shank fixed pedestal 61
It is fixed by shank elastic bands 63 in conjunction with wearer's shank.Knee joint swing mechanism 3 is adjustable, closes with the knee of human body
The section centre of gyration is consistent substantially.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (7)
1. a kind of wearable knee joint assistance exoskeleton robot of no driving, which is characterized in that including big leg restraint gear
(1), small leg restraint gear (6), clutch (2) and two sides thigh support frame (5)；
Wherein, every side thigh support frame (5) lower part is connected with small leg support (4) by knee joint swing mechanism (3), and thigh
Fixed mechanism (1), small leg restraint gear (6) are slidably fixed on thigh support frame (5) top, small leg support (4) lower part respectively；It is described
Clutch (2) is set on the thigh support frame on the outside of human body (5), and positive stretching bullet is provided in the side small leg support (4)
Spring (8), negative drawing spring (7)；It is connected separately with and rotates in the forward direction on the forward direction extension spring (8), negative drawing spring (7)
Wirerope (9) reversely rotates wirerope (10), is closed by rotating in the forward direction wirerope (9), reversely rotating wirerope (10) across knee
The bending locking that section swing mechanism (3) is connected when providing knee joint revolution afterwards with clutch (2) and stretching, extension power-assisted.
2. a kind of wearable knee joint assistance exoskeleton robot of no driving according to claim 1, which is characterized in that
The clutch (2) includes front pedestal (215) positioned opposite, reverse side pedestal (214) and is installed on front pedestal
(215), the pawl shaft (210) between reverse side pedestal (214), positive reel (22), reversed reel (26), positive ratchet
(23), reversed ratchet (25)；
Wherein, the positive reel (22), reversed reel (26) are symmetrically distributed in pawl shaft (210) two sides, positive ratchet
(23), reversed ratchet (25) is rotatablely installed with positive reel (22), reversed reel (26) coaxial synchronous respectively；The pawl
It is socketed with positive pawl (24), reversed pawl (28) on axis (210), rotates in the forward direction wirerope (9), reversely rotate wirerope (10)
It is wire-wrapped in positive reel (22) respectively, on reversed reel (26)；
The forward direction reel (22), reversed reel (26) are bonded with front pedestal (215), reverse side pedestal (214) respectively
Side is provided with annular groove, is respectively arranged in annular groove and is connected just with front pedestal (215), reverse side pedestal (214)
To torsionspring (21), turn-back spring (27)；Along the periphery of positive ratchet (23) on the forward direction reel (22)
It is disposed with locking node backing pin (216), unlock node backing pin (217), passes through locking node backing pin (216), unlock node respectively
Backing pin (217) stirs positive pawl (24) and realizes positive pawl (24) and positive ratchet (23) meshing state, reversed pawl (28)
With the switching of reversed ratchet (25) meshing state.
3. a kind of wearable knee joint assistance exoskeleton robot of no driving according to claim 2, which is characterized in that
It is provided with stop pedestal (212) below the forward direction ratchet (23), and is connected with spring-loaded plunger (211) on stop pedestal (212),
Positive pawl (24) bottom arc surface, which is resisted, by the elastic cambered surface of spring-loaded plunger (211) upper end realizes that positive pawl (24) rotates
When elastic spacing.
4. a kind of wearable knee joint assistance exoskeleton robot of no driving according to claim 2, feature.?
In stop pedestal (212) lower section is provided with leading block (213), passes through leading block (213) and realizes reverse rotation steel wire
The guiding of rope (10) from reversed reel (26) to knee joint swing mechanism (3).
5. a kind of wearable knee joint assistance exoskeleton robot of no driving according to claim 2, which is characterized in that
The knee joint swing mechanism (3) includes thigh rotating shaft (34), shank rotating shaft (32), thigh revolution fixed disk, shank time
Turn fixed disk (31), positive transition pulley (35), reverse transition pulley (310), encoder (39) and encoder fixed disk
(37)；
Wherein, the shank rotating shaft (32) is socketed in thigh rotating shaft (34) one end by inscribed bearing, outer end with it is small
It is fixed that leg turns round fixed disk (31)；The thigh revolution fixed disk is fixed on the outside of thigh rotating shaft (34), and positive transition is sliding
Wheel (35), reverse transition pulley (310) are socketed on the outside of thigh rotating shaft (34) by external bearing；Thigh rotating shaft (34) is logical
It crosses thigh revolution fixed disk and thigh support frame (5) is fixed, shank rotating shaft (32) passes through shank revolution fixed disk (31) and shank
Bracket (4) is fixed；The encoder (39) is fixed on thigh rotating shaft (34) other end by encoder fixed disk (37), passes through
Encoder (39) measures the angle that thigh rotating shaft (34) and shank rotating shaft (32) relatively rotate.
6. a kind of wearable knee joint assistance exoskeleton robot of no driving according to claim 2, which is characterized in that
The big leg restraint gear (1) includes thigh fixed pedestal (51) and thigh elastic bands (53), and thigh fixed pedestal (51)
On offer with thigh support frame (5) compatible sliding slot, pass through thigh Quick Release fixing clamp (52) and realize thigh support frame (5) and the cunning
The sliding of slot is fixed.
7. a kind of wearable knee joint assistance exoskeleton robot of no driving according to claim 2, which is characterized in that
The small leg restraint gear (6) includes shank fixed pedestal (61) and shank elastic bands (63), and shank fixed pedestal (61)
On offer with small leg support (4) compatible sliding slot, pass through shank Quick Release fixing clamp (62) and realize thigh support frame (5) and the cunning
The sliding of slot is fixed.
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| CN201811614839.9A CN109773755B (en) | 2018-12-27 | 2018-12-27 | Wearable knee joint power-assisted exoskeleton robot without driving |
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| CN109773755A true CN109773755A (en) | 2019-05-21 |
| CN109773755B CN109773755B (en) | 2021-05-25 |
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| CN112704626B (en) * | 2020-12-11 | 2023-06-20 | 天津大学 | Knee joint elastic self-locking device for lower limb rehabilitation and use method |
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