CN109834700B - Knee joint support member and exoskeleton robot - Google Patents
Knee joint support member and exoskeleton robot Download PDFInfo
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- CN109834700B CN109834700B CN201910152496.7A CN201910152496A CN109834700B CN 109834700 B CN109834700 B CN 109834700B CN 201910152496 A CN201910152496 A CN 201910152496A CN 109834700 B CN109834700 B CN 109834700B
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Abstract
The application provides a knee joint supporting part and ectoskeleton robot, this knee joint supporting part includes thigh subassembly, shank subassembly and locking subassembly, and the thigh subassembly rotates with the shank subassembly to be connected, and the locking subassembly is used for when the thigh subassembly rotates to predetermineeing the position in the first direction for the shank subassembly for thigh subassembly and shank subassembly are the locking state. When the user dresses knee joint supporting part squat down to thigh subassembly and be located the preset position for the shank subassembly, the locking subassembly makes thigh subassembly and shank subassembly be the locking state to the auxiliary user maintains the required state of squatting entirely or partly of production operation.
Description
Technical Field
The application relates to the technical field of walking-aid robots, in particular to a knee joint supporting part and an exoskeleton robot.
Background
The exoskeleton robot is a non-invasive mechanical device directly equipped on a human body. After a user wears the exoskeleton robot, the exoskeleton robot can play roles in supporting a human body, assisting the human body to move, reducing the sense of load and the like.
At present, operators engaged in industries such as logistics transportation, building transportation, automobile assembly, airplane assembly and the like often need to work in a full-squatting posture or a half-squatting posture for a long time, and particularly, the operators are easy to feel fatigue when the operators work in the half-squatting posture for a long time, and particularly, the knees of knee joints are subjected to high pressure and are easily damaged greatly.
Disclosure of Invention
The application mainly provides a knee joint supporting part and an exoskeleton robot, and aims to solve the problem that in the prior art, supporting and protecting effects on an operator in a full-squatting or half-squatting posture are poor.
In order to solve the technical problem, the application provides a knee joint support part, which comprises a thigh component, a shank component and a locking component, wherein the thigh component is rotatably connected with the shank component; the locking assembly comprises a first locking piece and a second locking piece, the first locking piece is fixedly connected with the thigh assembly, and the second locking piece is used for stopping the first locking piece when the thigh assembly rotates to a preset position in the first direction relative to the shank assembly, so that the thigh assembly and the shank assembly are in a locking state in the first direction.
In order to solve the technical problem, the present application further provides an exoskeleton robot including the above knee joint support part.
The beneficial effect of this application is: different from the prior art, the knee joint supporting part provided by the application comprises a thigh component, a shank component and a locking component, wherein the thigh component is rotatably connected with the shank component; the locking subassembly includes first locking piece and second locking piece, first locking piece and thigh subassembly fixed connection, and the second locking piece is used for backstop first locking piece when thigh subassembly rotates to default position on the first direction for the shank subassembly to make thigh subassembly be the locking state with the shank subassembly in the first direction.
Adopt above-mentioned structure, after the user dresses knee joint supporting part, the user rotates in the first direction for the shank subassembly when squatting, and when the shank subassembly rotated to predetermineeing the position, through the mode of the first locking piece of second locking piece backstop, can prevent the further rotation of thigh subassembly on the first direction, thereby make the thigh subassembly be the locking state with the shank subassembly on the first direction, and then the auxiliary user more easily maintains the required state of squatting entirely or partly squatting of production operation, alleviate the injury that receives such as the knee of elimination knee joint.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic view of a first embodiment of a knee bearing component provided herein;
FIG. 2 is an exploded schematic view of the thigh assembly of FIG. 1;
FIG. 3 is an exploded view of the lower leg assembly of FIG. 1;
FIG. 4 is a schematic cross-sectional view of the thigh assembly and the shank assembly of FIG. 1 in rotational connection;
FIG. 5 is an exploded schematic view of the locking assembly of FIG. 1;
FIG. 6 is a schematic view of the locking assembly of FIG. 1 in a relative positional relationship to the thigh assembly and the lower leg assembly;
FIG. 7 is a schematic view of another angle of relative position relationship in FIG. 6;
FIG. 8 is an exploded view of a second embodiment of a knee bearing component provided herein;
FIG. 9 is a schematic view of the relative positions of the third limiting element and the fourth locking element and the second elastic element in FIG. 8;
FIG. 10 is a schematic diagram of an embodiment of an exoskeleton robot provided herein;
FIG. 11 is a schematic front view of the exoskeletal robot of FIG. 10 worn by a user and in an upright position;
FIG. 12 is a schematic side view of the exoskeletal robot of FIG. 10 worn by a user and in an upright position;
fig. 13 is a side schematic view of the exoskeletal robot of fig. 10 worn by a user and in a semi-squat position.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The exoskeleton robot is a non-invasive mechanical device directly equipped on a human body. After a user wears the exoskeleton robot, the exoskeleton robot can play roles in supporting a human body, assisting the human body to move, reducing the sense of load and the like.
The inventor of the application finds that: operators engaged in industries such as logistics transportation, building transportation, automobile assembly, airplane assembly and the like often need to work in a full-squatting or half-squatting posture for a long time, and particularly, the operators are easy to feel fatigue when working in the half-squatting posture for a long time, and particularly, the knees of the knees are subjected to high pressure and are easily damaged greatly. To this end, the present application provides the following examples.
Referring to FIG. 1, FIG. 1 is a schematic view of a first embodiment of a knee bearing component provided herein.
The knee joint support part 10 of the present embodiment includes a thigh component 11, a lower leg component 12, and a lock component 13, and the thigh component 11 and the lower leg component 12 are pivotally connected.
Optionally, the knee joint support component 10 further comprises a bearing member 14, and the thigh component 11 and the shank component 12 are respectively connected with the inner ring and the outer ring of the bearing member 14 in a matching manner, so that the two are connected in a rotating manner.
Referring to fig. 2, fig. 2 is an exploded view of the thigh assembly 11 of fig. 1.
The thigh assembly 11 includes a thigh link seat 111, a thigh support plate 112 and a thigh strap 113, wherein the thigh support plate 112 is fixedly connected to the thigh link seat 111, and the thigh strap 113 is connected to the thigh support plate 112 to attach the thigh assembly 11 to the user's thigh.
It should be noted that, the "user" mentioned in the embodiment of the present application is generally an adult, and there may be differences in sex, height, weight, etc. among different users, so that there may also be differences in the fastening position.
Wherein, thigh connecting seat 111 includes first installation department 1111 and second installation department 1112, and second installation department 1112 sets up with first installation department 1111 is coaxial, and thigh connecting seat 111 passes through first installation department 1111 and locking subassembly 13 fixed connection, and thigh connecting seat 111 passes through second installation department 1112 and is connected with shank subassembly 12 rotation.
Optionally, the first mounting portion 1111 and the second mounting portion 1112 are both cylindrical, and the first mounting portion 1111 is hollow, so that the weight of the thigh connecting seat 111 can be reduced, and the bearing capacity of the thigh connecting seat 111 can be increased.
Optionally, an accommodating space 1113 is formed between the first mounting portion 1111 and the second mounting portion 1112, so that the weight of the thigh link base 111 can be reduced.
Optionally, the thigh support plate 112 has a curvature to accommodate changes in the curvature of the user's thigh, e.g., the diameter of the user's thigh decreases from the waist to the lower leg, thereby increasing the fit between the thigh support plate 112 and the user's thigh.
Optionally, the thigh strap 113 is made of textile fabric, leather, etc. to provide the thigh strap 113 with strength and flexibility to increase the binding effect between the thigh assembly 11 and the user's thigh.
Alternatively, the thigh support plate 112 may have a length corresponding to the length of the user's thigh, the number of thigh straps 113 may be plural, and the plurality of thigh straps 113 may attach the thigh assembly 11 to the user's thigh at different positions, thereby increasing the attaching effect.
In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise.
Referring to fig. 2 and 4 together, fig. 3 is an exploded view of lower leg assembly 12 of fig. 1, and fig. 4 is a cross-sectional view of thigh assembly 11 and lower leg assembly 12 of fig. 1 in a pivotal connection.
The lower leg assembly 12 comprises a lower leg connecting seat 121, a lower leg supporting plate 122 and a lower leg binding band 123, wherein the lower leg supporting plate 122 is fixedly connected with the lower leg connecting seat 121, and the lower leg binding band 123 is connected with the lower leg supporting plate 122 so as to bind the lower leg assembly 12 to the lower leg of the user.
Optionally, the shank connecting seat 121 is disposed in a cylindrical shape and sleeved on the second mounting portion 1112 to be rotatably connected with the thigh connecting seat 111.
Optionally, the lower leg supporting plate 122 is partially bent, in this embodiment, one end of the lower leg supporting plate 122 close to the lower leg connecting seat 121 is bent toward the thigh assembly 11 to reduce the distance between the lower leg supporting plate 122 and the thigh supporting plate 112, so as to increase the fitting degree of the lower leg supporting plate 122 and the thigh supporting plate 112 to the body of the user.
Optionally, calf strap 123 is made of textile fabric, leather, or the like, to provide calf strap 123 with strength and flexibility to increase the cinching effect between calf assembly 12 and the user's calf.
Alternatively, the length of the lower leg support plate 122 corresponds to the length of the user's lower leg, the number of lower leg straps 123 may be plural, and a plurality of lower leg straps 123 attach the lower leg assembly 12 to the user's lower leg at different locations, thereby increasing the attachment effect.
Further, the lower leg assembly 12 further includes a first limiting member 124 and a second limiting member 125, and the first limiting member 124 and the second limiting member 125 are fixedly connected to the lower leg connecting seat 121 and are disposed along the circumferential direction of the lower leg connecting seat 121.
After the user wears the knee joint support part 10, the user may consider the lower leg assembly 12 to be stationary and mainly the upper leg assembly 11 to rotate with respect to the lower leg assembly 12 when the user squats or rises. Meanwhile, since the first and second position-limiting members 124 and 125 are fixedly connected to the lower leg connecting seat 121, in order to simplify the structure of the drawing, the position of the thigh assembly 11 relative to the first and second position-limiting members 124 and 125 can be considered as the position of the thigh assembly 11 relative to the lower leg assembly 12.
Optionally, the first and second limiting members 124 and 125 and the lower leg connecting seat 121 are integrally formed to reduce the complexity and assembly difficulty of the lower leg assembly 12 and reduce the processing cost of the lower leg assembly 12.
Optionally, the first limiting member 124 and the second limiting member 125 are detachably connected to the lower leg connecting seat 121, so that the first limiting member 124 and the second limiting member 125 can be conveniently replaced after being damaged, thereby prolonging the service life of the lower leg assembly 12.
In this embodiment, the bearing element 14 may be a deep groove ball bearing, and the thigh connecting seat 111 and the calf connecting seat 121 are respectively connected to the inner ring and the outer ring of the bearing element 14 in a matching manner, so that the thigh component 11 is rotatably connected to the calf component 12.
Referring to fig. 2 to 7 together, fig. 5 is an exploded view of the locking assembly 13 in fig. 1, fig. 6 is a view illustrating a relative position relationship between the locking assembly 13 and the thigh assembly 11 and the shank assembly 12 in fig. 1, and fig. 7 is a view illustrating another relative position relationship in fig. 6.
The locking assembly 13 includes a first locking member 131 and a second locking member 132, the first locking member 131 is fixedly connected to the thigh assembly 11, and the second locking member 132 is used for stopping the first locking member 131 when the thigh assembly 11 rotates to a preset position in a first direction relative to the shank assembly 12, so that the thigh assembly 11 is locked with the shank assembly 12 in the first direction.
In the present embodiment, the first direction may be a direction in which the thigh component 11 rotates relative to the calf component 12 during a user's squat after the user wears the knee joint support part 10, as indicated by an arrow a in fig. 5 to 7.
In this embodiment, the predetermined position may be a position of the thigh component 11 relative to the lower leg component 12 when the user is in a fully-squat or semi-squat state after the user wears the knee joint support part 10.
It should be noted that the predetermined position of the present embodiment may be arbitrary, and it is related to the degree of squat of the user, which may improve the flexibility of the knee bearing component 10.
In this embodiment, the locked state may refer to the thigh assembly 11 being unable to rotate further in the first direction after rotating to a predetermined position relative to the shank assembly 12.
In the locked state, the user can maintain the fully-squat or semi-squat state for a long time by means of the knee joint support member 10, so as to assist the user to maintain the fully-squat or semi-squat state required for the production work more easily, thereby reducing or even eliminating the injury of the knee joint and the like.
In this embodiment, the first locking member 131 is fixedly connected to the thigh link base 111 through the first mounting portion 1111, so as to be fixedly connected to the thigh assembly 11.
Optionally, the first locking member 131 is detachably connected to the thigh link base 111 to be easily replaced after the first locking member 131 is damaged, thereby extending the service life of the locking assembly 13.
Optionally, the first locking member 131 is integrally formed with the thigh link seat 111 to reduce the complexity and assembly difficulty of the knee joint supporting part 10 and reduce the processing cost of the knee joint supporting part 10.
Alternatively, the number of the second locking members 132 is plural, for example, two, and the two second locking members 132 simultaneously stop the first locking member 131, so that the locking effect between the thigh member 11 and the shank member 12 can be increased.
In this embodiment, the first locking member 131 includes a plurality of first engaging portions 1311 arranged along the first direction, the second locking member 132 includes a second engaging portion 1321, and the second engaging portion 1321 is inserted into the first engaging portion 1311, so that the second locking member 132 can stop the first locking member 131 in the first direction.
Alternatively, the first lock 131 is a ratchet-like member including a plurality of first engaging portions 1311, which are tooth-like, uniformly arranged along a circumferential direction thereof, so that the second engaging portions 1321 are engaged with the first engaging portions 1311.
Alternatively, the second lock 132 is a pawl-like member, and the second lock 132 and the first lock 131 form a ratchet mechanism, so that only one-way rotation exists between the second lock 132 and the first lock 131. In this embodiment, the second locking member 132 and the first locking member 131 are in a locking state in the first direction.
In some embodiments, the second locking member 132 is coupled to the lower leg attachment base 121 to stop the first locking member 131 when the thigh member 11 is rotated to a predetermined position, thereby preventing further rotation of the thigh member 11 relative to the lower leg member 12 in the first direction, and thereby assisting the user in a full or half squat.
In this embodiment, the first locking member 131 further includes a second stopping portion 1312 and a third stopping portion 1313, and the second stopping portion 1312 and the third stopping portion 1313 are disposed along the circumferential direction of the thigh connecting seat 111.
Referring to fig. 5 to 7 again, the locking assembly 13 further includes a third locking member 133, and the third locking member 133 is sleeved on the thigh assembly 11 and connected to the second locking member 132, so that when the thigh assembly 11 rotates to the predetermined position, the first limiting member 124 stops the third locking member 133 in the first direction.
In this embodiment, the third locking member 133 is sleeved on the second mounting portion 1112, and when the first limiting member 124 stops the third locking member 133 in the first direction and the second locking member 132 stops the first locking member 131 in the first direction, the thigh link seat 111 and the shank link seat 121 are in a locking state in the first direction.
Optionally, the third locking member 133 is similar to a circular ring, and is sleeved on the thigh connecting seat 111 and disposed adjacent to the first locking member 131, so that when the second locking member 132 is connected to the third locking member 133, the second locking member 132 can stop the first locking member 131 in the first direction.
Optionally, the first locking member 131 and the second locking member 132 are disposed on the same side of the third locking member 133, so that when the third locking member 133 is sleeved on the thigh connecting seat 111, the second locking member 132 can stop the first locking member 131 in the first direction.
Optionally, the stopping position of the first limiting member 124 is located downstream of the preset position in the first direction, the third locking member 133 is provided with a first stopping portion 1331, the first stopping portion 1331 is disposed opposite to the first limiting member 124 in the first direction, and when the thigh assembly 11 rotates to the preset position, the third locking member 133 can continue to rotate in the first direction relative to the shank connecting seat 121 until the first stopping portion 1331 abuts against the first limiting member 124, so that the first limiting member 124 stops the third locking member 133 in the first direction.
In this embodiment, when the first limiting member 124 stops the third locking member 133 in the first direction, the second engaging portion 1321 is inserted into the first engaging portion 1311, so that the second locking member 132 stops the first locking member 131 in the first direction.
Optionally, in the process that the thigh assembly 11 rotates to the preset position, the second engaging portion 1321 is inserted into the first engaging portion 1311 to push the third locking member 133 to rotate to the preset position, and at this time, the first blocking portion 1331 is located at the preset position. Further, in the process that the third locking member 133 continues to rotate until the first stop portion 1331 abuts against the first limiting member 124, the second locking member 132 can rotate relative to the third locking member 133, so that the second engaging portion 1321 is separated from the first engaging portion 1311, and at this time, the third locking member 133 can continue to rotate in the first direction.
Further, the third stopping portion 1313 is disposed opposite to the second limiting member 125 in the second direction, so that when the thigh component 11 rotates to the initial position in the second direction relative to the shank component 12, the third stopping portion 1313 abuts against the second limiting member 125.
In this embodiment, the initial position may be a position of the thigh component 11 relative to the lower leg component 12 when the user is standing or standing upright after the user wears the knee joint support part 10.
In this embodiment, the second direction may be a direction in which the thigh assembly 11 rotates relative to the calf assembly 12 during rising from the above-mentioned preset position (fully squat or half squat state) to the initial position (standing or upright state) after the user wears the knee joint support part 10, as indicated by an arrow B in fig. 6 and 7. The second direction and the first direction are arranged in a reverse direction.
Optionally, the third stopping portion 1313 is disposed opposite to the first stopping portion 1331 in the second direction, so that during the process of rotating the thigh assembly 11 to the initial position, the second locking member 132 rotates relative to the third locking member 133, so that the second engaging portion 1321 is disengaged from the first engaging portion 1311, and the third locking member 133 can rotate relative to the lower leg assembly 12 in the second direction until the first stopping portion 1331 abuts against the second stopping portion 1312.
Optionally, the locking assembly 13 further includes a first elastic member 134, and the first elastic member 134 is connected to the second locking member 132 and the third locking member 133, so that when the first elastic member 134 is elastically deformed, the second engaging portion 1321 is disengaged from the first engaging portion 1311, and when the first elastic member is elastically restored, the second engaging portion 1321 is inserted into the first engaging portion 1311.
Optionally, the first elastic member 134 is a torsion spring, the torsion spring is sleeved on a connecting portion (not labeled in the figure) between the second locking member 132 and the third locking member 133, and two free ends of the torsion spring are respectively connected with the first locking member 131 and the third locking member 133, so that the second locking member 132 stops the first locking member 131 in the first direction under the action of the torsion spring, at this time, the second engaging portion 1321 is inserted into the first engaging portion 1311, or the torsion spring is elastically deformed to rotate the second locking member 132 relative to the third locking member 133, at this time, the second engaging portion 1321 is disengaged from the first engaging portion 1311.
As mentioned above, the first locking member 131 may be a ratchet, the second locking member 132 may be a pawl, and the third locking member 133 may be a ring disposed adjacent to the first locking member 131, the pawl is connected to the ring, so that the pawl, the ratchet, the torsion spring and the ring may form a ratchet mechanism with unidirectional rotation. Specifically, the pawl is inserted into the ratchet under the action of the torsion spring, so that the ratchet is not rotatable relative to the pawl and the ring in a first direction and is rotatable relative to the pawl or the ring in a second direction, or the pawl and the ring are rotatable relative to the ratchet in the first direction and are not rotatable relative to the ratchet in the second direction.
In the present embodiment, after the user wears the knee joint support part 10, the user can squat from a standing or standing state to a half-squat or full-squat state, or can raise from the half-squat or full-squat state to a standing or standing state, and the above two processes will be described in detail below.
The following describes in detail the process of the present embodiment in which the thigh assembly 11 is rotated relative to the shank assembly 12 from the initial position to the predetermined position and is locked by the locking assembly 13:
first, in the process that the thigh assembly 11 rotates from the initial position (standing or standing state) to the predetermined position (half-squat or full-squat state) relative to the calf assembly 12, the thigh link seat 111 drives the first locking member 131 to rotate in the first direction relative to the calf link seat 121, at this time, the third blocking portion 1313 abuts against the first blocking portion 1331 in the first direction, and the second engaging portion 1321 is inserted into the first engaging portion 1311, so as to push the second locking member 132 and the third locking member 133 to rotate in the first direction relative to the calf link seat 121 until the thigh assembly 11 reaches the predetermined position relative to the calf assembly 12. Obviously, the locking assembly 13 is also in the preset position.
Then, since the stopping position of the first limiting member 124 is located downstream of the preset position in the first direction, the third locking member 133 continues to rotate relative to the shank link seat 121, at this time, the second locking member 132 rotates relative to the third locking member 133, so that the first elastic member 134 elastically deforms, so that the second engaging portion 1321 is disengaged from the first engaging portion 1311, until the first stopping portion 1331 abuts against the first limiting member 124 in the first direction, at this time, the first limiting member 124 stops the third locking member 133 in the first direction, and at the same time, the first elastic member 124 elastically returns, so that the second engaging portion 1321 is inserted into the first engaging portion 1311, at this time, the second locking member 132 stops the first locking member 131 in the first direction. Obviously, since the first limiting member 124 is fixedly connected to the lower leg connecting base 121, the first locking member 131 is fixedly connected to the thigh connecting base 111, and the first limiting member 124 stops the third locking member 133 in the first direction, and the second locking member 132 stops the first locking member 131 in the first direction, so that the locking assembly 13 locks the thigh assembly 11 and the lower leg assembly 12 in the first direction, that is, under the locking action of the locking assembly 13, the thigh assembly 11 and the lower leg assembly 12 are in a locking state in the first direction.
The following describes the rotation of the thigh assembly 11 and the locking assembly 13 relative to the shank assembly 12 from the predetermined position to the initial position in detail:
as described above, during the rotation of the thigh assembly 11 relative to the calf assembly 12, the second lock member 132 only stops the first lock member 131 in the first direction for locking.
First, in the process that the thigh assembly 11 rotates from the preset position (half-squat or full-squat state) to the initial position (standing or upright state) relative to the shank assembly 12, the second locking member 132 rotates relative to the third locking member 133 to elastically deform the first elastic member 134, so that the second engaging portion 1321 is disengaged from the first engaging portion 1311, and at the same time, the first locking member 131 rotates in the second direction along with the thigh connecting seat 111 until the third stopping portion 1313 abuts against the second limiting portion 125, and at this time, the thigh connecting seat 111 and the first locking member 131 are located at the initial position.
Then, the third and second lock members 133 and 132 rotate in the second direction until the first stop portion 1331 abuts against the third stop portion 1313, and at this time, the third and second lock members 133 and 132 are located at the initial positions.
After the thigh assembly 11 and the locking member 13 are located at the initial position, the first elastic member 124 elastically returns, so that the second engaging portion 1321 is inserted into the first engaging portion 1311.
It should be noted that, after the user wears the knee joint support component 10, the first stop portion 1331 does not abut against the first limiting member 124 during the normal walking process of the user, so that the locking assembly 13 does not hinder the normal walking of the user.
Referring to fig. 8 and 9 together, fig. 8 is an exploded view of a second embodiment of the knee supporting component provided in the present application, and fig. 9 is a schematic view of a relative position relationship between the third limiting member 126 and the fourth locking member 136 of fig. 8 and the second elastic member 135.
The calf assembly 12 of the present embodiment further includes a third limiting member 126, and the third limiting member 126 is fixedly connected to the calf connecting seat 121 and disposed along the circumference of the calf connecting seat 121 with the first limiting member 124 and the second limiting member 125.
Optionally, the third limiting member 126 and the lower leg connecting seat 121 are an integral component, so as to reduce the complexity and assembly difficulty of the lower leg assembly 12, and reduce the processing cost of the lower leg assembly 12.
Optionally, the third limiting member 126 is detachably connected to the lower leg connecting base 121, so that the third limiting member 126 can be easily replaced after being damaged, thereby prolonging the service life of the lower leg assembly 12.
The locking assembly 13 of the present embodiment further includes a second elastic element 135 and a fourth locking element 136, the second elastic element 135 is sleeved on the second mounting portion 1112, and the fourth locking element 136 can be partially accommodated in the accommodating space 1113.
The terms "first", "second", "third" and "fourth" in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first," "second," "third," and "fourth" may explicitly or implicitly include at least one such feature.
Alternatively, the second elastic member 135 is a torsion spring, and is disposed in a spiral shape, and mainly receives a torque force.
It should be noted that the main parameters of the second elastic member 135, such as the dimension and the elastic coefficient, are designed according to the force to be borne by the second elastic member 135.
Optionally, the fourth locking member 136 is movably connected to the first mounting portion 1111, the first mounting portion 1111 is formed with a mounting hole 1114, and the fourth locking member 136 is disposed through the mounting hole 1114, so that the fourth locking member 136 can be partially accommodated in the accommodating space 1113.
In this embodiment, the third limiting member 126 is disposed opposite to the first end portion 1351 of the second elastic member 135 in the first direction, and when the fourth locking member 136 is partially accommodated in the accommodating space 1113, the fourth locking member 136 is disposed opposite to the second end portion 1352 of the second elastic member 135 in the first direction, so that when the thigh assembly 11 rotates to the predetermined position, the first end portion 1351 abuts against the third limiting member 126, and the second end portion 1352 abuts against the fourth locking member 136.
Optionally, the second elastic element 135 is fixedly connected to the shank connecting seat 121, so that the first end portion 1351 abuts against the third limiting element 126, which can increase the stability of the acting force exerted by the third limiting element 126 and the fourth locking element 136 on the second elastic element 135 respectively in the process of rotating the thigh assembly 11 to the predetermined position.
In this embodiment, when the thigh assembly 11 rotates to the predetermined position and the fourth locking member 136 is partially received in the receiving space 1113, the fourth locking member 136 gradually approaches the second end portion 1352, and when the rotation angle of the fourth locking member 136 relative to the second elastic member 135 is greater than or equal to the angle threshold, the fourth locking member 136 abuts against the second end portion 1352.
In this embodiment, the angle threshold may be a maximum value of the amount of the angle that the thigh component 11 rotates relative to the shank component 12 during normal walking of the user after the user wears the knee joint support part 20, and the angle threshold is, for example, 5 °. In other words, during normal walking, the fourth locking member 136 only gradually moves closer to or farther from the second end portion 1352, and the rhythm of the approaching or the departing is consistent with the pace of the user, but does not abut against the second end portion 1352.
It should be noted that, since the steps of different users are not completely consistent, or the steps of the users during walking, walking quickly, running, etc. are not completely consistent, the fourth locking member 136 may abut against the second end portion 1352 during the normal walking process of the users, so that the second elastic member 136 is slightly deformed.
In this embodiment, after the user wears the knee joint supporting component 20, when the user squats down, the rotation angle of the fourth locking member 136 relative to the second elastic member 135 is greater than or equal to the angle threshold, and during the process that the thigh assembly 11 rotates to the predetermined position, the third limiting member 126 and the fourth locking member 136 respectively abut against the first end portion 1351 and the second end portion 1352, so that the second elastic member 135 elastically deforms. It is apparent that this can provide a resilient or flexible support to the user while maintaining the user in a fully-squat or semi-squat position with the knee support component 10 for an extended period of time, thereby making the knee support component 20 more comfortable than the knee support component 10.
Optionally, the locking assembly 13 further includes a third elastic member 137 and a toggle member 138, the third elastic member 137 is sleeved on the fourth locking member 136, and the toggle member 138 is configured to elastically deform the third elastic member 137, so that a portion of the fourth locking member 136 is accommodated in the accommodating space 1113.
Specifically, the thigh supporting plate 112 is provided with a third engaging portion 1121, the toggle 138 is rotatably connected to the thigh supporting plate 112 and includes a pressing portion 1381 and a fourth engaging portion 1382, and the pressing portion 1381 elastically deforms the third elastic member 137 and pushes the fourth locking member 136 to partially extend into the accommodating space 1113 in the process that the toggle 138 rotates relative to the thigh supporting plate 112 until the fourth engaging portion 1382 is inserted into the third engaging portion 1121.
Optionally, the third elastic member 137 is a compression spring, and in a natural state or a compression slightly-deformed state of the third elastic member 137, the fourth locking member 136 is not disposed opposite to the second end portion 1352 in the first direction, that is, when a rotation angle of the fourth locking member 136 relative to the second elastic member 135 is greater than or equal to an angle threshold, the fourth locking member 136 does not abut against the second end portion 1352.
It should be noted that, after the user wears the knee joint support part 20, the toggle member 138 may not be toggled during the normal walking process of the user, and at this time, the fourth locking member 136 does not abut against the second end portion 1352 to hinder the normal walking process of the user. In this embodiment, when the user squats, the user may first act on the toggle element 138 to make the fourth locking element 136 partially extend into the accommodating space 1113.
Other structures in this embodiment are the same as or similar to the knee joint support components described above and will not be described again.
In the present embodiment, after the user wears the knee joint support member 20, the user can squat from a standing or standing state to a half-squat or full-squat state, or can raise from the half-squat or full-squat state to a standing or standing state, and the above two processes will be described in detail below.
The following describes in detail the process of the present embodiment in which the thigh assembly 11 is rotated relative to the shank assembly 12 from the initial position to the predetermined position and is locked by the locking assembly 13:
first, the toggle member 138 rotates relative to the thigh supporting plate 112 until the fourth engaging portion 1382 is inserted into the third engaging portion 1121, and at the same time, the pressing portion 1381 elastically deforms the third elastic member 137 to push the fourth locking member 136 to partially extend into the accommodating space 1113, and at this time, the fourth locking member 136 is disposed opposite to the second end portion 1352 of the second elastic member 135 in the first direction.
Then, in the process that the thigh assembly 11 rotates from the initial position (standing or standing state) to the predetermined position (half-squat or full-squat state) relative to the calf assembly 12, the thigh link seat 111 drives the first locking member 131 to rotate in the first direction relative to the calf link seat 121, at this time, the third blocking portion 1313 abuts against the first blocking portion 1331 in the first direction, and the second engaging portion 1321 is inserted into the first engaging portion 1311, so as to push the second locking member 132 and the third locking member 133 to rotate in the first direction relative to the calf link seat 121 until the thigh assembly 11 reaches the predetermined position relative to the calf assembly 12. Meanwhile, the thigh link seat 111 drives the fourth locking member 136 to rotate in the first direction relative to the shank link seat 121, so that the fourth locking member 136 gradually approaches the second end portion 1352, and when the rotation angle of the fourth locking member 136 relative to the second elastic member 135 is greater than or equal to the angle threshold, the fourth locking member 136 abuts against the second end portion 1352, and further, in the process that the thigh assembly 11 rotates to the preset position, the third limiting member 126 and the fourth locking member 136 abut against the first end portion 1351 and the second end portion 1352, respectively, and act on the second elastic member 135 from the first end portion 1351 and the second end portion 1352 to elastically deform the second elastic member 135.
Further, since the stopping position of the first limiting member 124 is located downstream of the preset position in the first direction, the third locking member 133 continues to rotate relative to the shank link seat 121, at this time, the second locking member 132 rotates relative to the third locking member 133, so that the first elastic member 134 elastically deforms, so that the second engaging portion 1321 is disengaged from the first engaging portion 1311, until the first stopping portion 1331 abuts against the first limiting member 124 in the first direction, at this time, the first limiting member 124 stops the third locking member 133 in the first direction, and at the same time, the first elastic member 124 elastically returns, so that the second engaging portion 1321 is inserted into the first engaging portion 1311, at this time, the second locking member 132 stops the first locking member 131 in the first direction.
Obviously, since the first limiting member 124 is fixedly connected to the lower leg connecting base 121, the first locking member 131 is fixedly connected to the thigh connecting base 111, and the first limiting member 124 stops the third locking member 133 in the first direction, and the second locking member 132 stops the first locking member 131 in the first direction, so that the locking assembly 13 locks the thigh assembly 11 and the lower leg assembly 12 in the first direction, that is, under the locking action of the locking assembly 13, the thigh assembly 11 and the lower leg assembly 12 are in a locking state in the first direction. Meanwhile, since the third limiting member 126 is fixedly connected to the shank link seat 121, the fourth locking member 136 is connected to the thigh link seat 111, and in the locked state, the third limiting member 126 and the fourth locking member 136 respectively act on the second elastic member 135 from the first end portion 1351 and the second end portion 1352, so that the second elastic member 135 is elastically deformed, that is, the second elastic member 135 elastically reacts to the shank link seat 111 and the shank link seat 121. Therefore, under the locking action of the locking assembly 13, the thigh assembly 11 is in a locked state with the calf assembly 12 in the first direction, and at the same time, under the action of the second elastic member 135, the locked state is an elastic or flexible support, so that the knee joint support part 20 is more comfortable than the knee joint support part 10.
The following describes the rotation of the thigh assembly 11 and the locking assembly 13 relative to the shank assembly 12 from the predetermined position to the initial position in detail:
as described above, during the rotation of the thigh assembly 11 relative to the calf assembly 12, the second lock member 132 only stops the first lock member 131 in the first direction for locking.
First, in the process that the thigh assembly 11 rotates from the preset position (half-squat or full-squat state) to the initial position (standing or upright state) relative to the shank assembly 12, the second locking member 132 rotates relative to the third locking member 133 to elastically deform the first elastic member 134, so that the second engaging portion 1321 is disengaged from the first engaging portion 1311, and at the same time, the first locking member 131 rotates in the second direction along with the thigh connecting seat 111 until the third stopping portion 1313 abuts against the second limiting portion 125, and at this time, the thigh connecting seat 111 and the first locking member 131 are located at the initial position. Meanwhile, the fourth locking member 136 rotates along with the thigh link base 111 in the second direction, at this time, the second elastic member 135 elastically recovers, and the fourth locking member 136 gradually disengages from the second end portion 1352 of the second elastic member 135 until the fourth locking member 136 is located at the initial position. Obviously, the elastic potential energy is released during the elastic recovery process of the second elastic member 135, so that the whole process of rotating the thigh assembly 11 relative to the calf assembly 12 from the preset position (half-squat or full-squat state) to the initial position (standing or upright state) is more stable and labor-saving.
Then, the third and second lock members 133 and 132 rotate in the second direction until the first stop portion 1331 abuts against the third stop portion 1313, and at this time, the third and second lock members 133 and 132 are located at the initial positions.
Finally, when the fourth locking member 136 is located at the initial position, the toggle member 138 may act to disengage the fourth engaging portion 1382 from the third engaging portion 1121, and at the same time, the third elastic member 137 elastically returns to push the fourth locking member 136 to disengage from the accommodating space 1113, until the fourth locking member 136 does not oppose the second end portion 1352 of the second elastic member 135 in the first direction.
Referring to fig. 10, fig. 10 is a schematic structural diagram of an embodiment of the exoskeleton robot provided by the present application.
The exoskeleton robot 30 of the present embodiment includes the knee joint support part in any of the above embodiments, and the present embodiment will be described in detail by taking the knee joint support part 20 of the second embodiment as an example.
For details of the knee bearing component 20, please refer to the second embodiment of the knee bearing component 20 and the first embodiment of the knee bearing component 10, which will not be described herein again.
Referring to fig. 11 to 13 together, fig. 11 is a front view illustrating the exoskeletal robot 30 of fig. 10 worn on a user in an upright state, fig. 12 is a side view illustrating the exoskeletal robot 30 of fig. 10 worn on a user in an upright state, and fig. 13 is a side view illustrating the exoskeletal robot 30 of fig. 10 worn on a user in a semi-squat state.
In this embodiment, the exoskeleton robot 30 includes two sets of knee joint support members 20, one set of knee joint support members 20 is attached to the left leg of the user, and the other set of knee joint support members 20 is attached to the right leg of the user, so as to assist the user to maintain the fully-squat or semi-squat state required for the production operation more easily when the user squats to the preset position, thereby reducing or even eliminating the injury to the knees of the knee joints and the like.
Different from the prior art, the knee joint supporting part provided by the application comprises a thigh component, a shank component and a locking component, wherein the thigh component is rotatably connected with the shank component; the locking subassembly includes first locking piece and second locking piece, first locking piece and thigh subassembly fixed connection, and the second locking piece is used for backstop first locking piece when thigh subassembly rotates to default position on the first direction for the shank subassembly to make thigh subassembly be the locking state with the shank subassembly in the first direction.
Adopt above-mentioned structure, after the user dresses knee joint supporting part, the user rotates in the first direction for the shank subassembly when squatting, and when the shank subassembly rotated to predetermineeing the position, through the mode of the first locking piece of second locking piece backstop, can prevent the further rotation of thigh subassembly on the first direction, thereby make the thigh subassembly be the locking state with the shank subassembly on the first direction, and then the auxiliary user more easily maintains the required state of squatting entirely or partly squatting of production operation, alleviate the injury that receives such as the knee of elimination knee joint.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (13)
1. The knee joint supporting part is characterized by comprising a thigh component, a shank component and a locking component, wherein the thigh component is rotatably connected with the shank component;
wherein the shank assembly comprises a shank connecting seat and a first limiting part, the shank connecting seat is rotatably connected with the thigh assembly, the first limiting part is fixedly connected with the shank connecting seat, the locking assembly comprises a first locking part, a second locking part and a third locking part, the first locking part is fixedly connected with the thigh assembly, the third locking part is sleeved on the thigh assembly and is provided with a first stopping part, the first stopping part is arranged opposite to the first limiting part in a first direction, the second locking part is connected with the third locking part and is used for stopping the first locking part when the thigh assembly rotates to a preset position in the first direction relative to the shank assembly, and the stopping position of the first limiting part is located at the downstream of the preset position in the first direction so as to stop the thigh assembly when the thigh assembly rotates to the preset position, the third locking piece can continue to rotate relative to the shank link seat in the first direction until the first stopping portion abuts against the first limiting piece, so that the first limiting piece stops the third locking piece in the first direction, and the thigh assembly and the shank assembly are in a locking state in the first direction.
2. The knee joint support member according to claim 1, wherein the first lock member includes a plurality of first engaging portions arranged in the first direction, and the second lock member includes a second engaging portion inserted into the first engaging portion when the first stopper stops the third lock member in the first direction, so that the second lock member stops the first lock member in the first direction.
3. The knee joint support component according to claim 2, wherein the second engaging portion is inserted into the first engaging portion during the rotation of the thigh assembly to the predetermined position to push the third locking member to rotate to the predetermined position, and the second locking member is rotatable relative to the third locking member during the rotation of the third locking member until the first stop portion abuts against the first limiting member, so that the second engaging portion is disengaged from the first engaging portion.
4. The knee joint support component according to claim 3, wherein the lower leg assembly further comprises a second limiting member fixedly connected to the lower leg connecting seat, the first locking member further comprises a second stopping portion, the second stopping portion is disposed opposite to the second limiting member in a second direction, the second direction and the first direction are opposite to each other, so that when the thigh assembly rotates to an initial position in the second direction relative to the lower leg assembly, the second stopping portion abuts against the second limiting member.
5. The knee joint support component according to claim 4, wherein the first lock member further includes a third stopper portion disposed opposite to the first stopper portion in the second direction, and during the rotation of the thigh assembly to the initial position, the second lock member rotates relative to the third lock member so that the second engaging portion is disengaged from the first engaging portion, and the third lock member rotates relative to the shank assembly in the second direction until the first stopper portion abuts against the third stopper portion.
6. The knee joint support component of claim 5, wherein the locking assembly further comprises a first elastic member connected to the second locking member and the third locking member such that the second engaging portion is disengaged from the first engaging portion when the first elastic member is elastically deformed and the second engaging portion is inserted into the first engaging portion when the first elastic member is elastically restored.
7. The knee joint support component of claim 1, wherein the thigh assembly includes a thigh link seat, the shank link seat is rotatably connected to the thigh link seat, the thigh link seat includes a first mounting portion and a second mounting portion, the second mounting portion is coaxially disposed with the first mounting portion and forms an accommodation space, the first locking member is fixedly connected to the first mounting portion, the third locking member is sleeved on the second mounting portion, the first limiting member stops the third locking member in the first direction, and when the second locking member stops the first locking member in the first direction, the thigh link seat is in a locking state with the shank link seat in the first direction.
8. The knee joint support component according to claim 7, wherein the locking assembly further includes a second elastic member and a fourth locking member, the second elastic member is sleeved on the second mounting portion, the fourth locking member is partially received in the receiving space, the lower leg assembly further includes a third limiting member, the third limiting member is disposed opposite to a first end of the second elastic member in the first direction, and when the fourth locking member is partially received in the receiving space, the fourth locking member is disposed opposite to a second end of the second elastic member in the first direction, so that when the thigh assembly rotates to the predetermined position, the first end abuts against the third limiting member, and the second end abuts against the fourth locking member.
9. The knee joint support component according to claim 8, wherein the second elastic member is fixedly connected to the lower leg connecting base, such that the first end portion abuts against the third limiting member, and the fourth locking member is movably connected to the first mounting portion, such that when the thigh assembly rotates to the predetermined position and a portion of the fourth locking member is accommodated in the accommodating space, the fourth locking member gradually approaches the second end portion, and when a rotation angle of the fourth locking member relative to the second elastic member is greater than or equal to an angle threshold, the fourth locking member abuts against the second end portion.
10. The knee joint support component according to claim 9, wherein the first mounting portion defines a mounting hole, the fourth locking member is disposed through the mounting hole, the locking assembly further includes a third elastic member and a toggle member, the third elastic member is disposed on the fourth locking member, and the toggle member is configured to elastically deform the third elastic member, so that the fourth locking member is partially received in the receiving space.
11. The knee joint support component according to claim 10, wherein the thigh assembly further comprises a thigh support plate, the thigh support plate is fixedly connected to the thigh link seat, the thigh support plate is provided with a third engaging portion, the toggle member is rotatably connected to the thigh support plate and comprises a pressing portion and a fourth engaging portion, and the pressing portion elastically deforms the third elastic member and pushes the fourth locking member to partially extend into the accommodating space during the rotation of the toggle member relative to the thigh support plate until the fourth engaging portion is inserted into the third engaging portion.
12. The knee joint support component of claim 1, wherein the lower leg assembly further comprises a lower leg support plate, the lower leg support plate is fixedly connected with the lower leg connecting seat, and the lower leg support plate is partially bent.
13. An exoskeleton robot comprising a knee bearing part as claimed in any one of claims 1 to 12.
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| CN201910152496.7A CN109834700B (en) | 2019-02-28 | 2019-02-28 | Knee joint support member and exoskeleton robot |
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| CN201910152496.7A CN109834700B (en) | 2019-02-28 | 2019-02-28 | Knee joint support member and exoskeleton robot |
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| CN110625595B (en) * | 2019-09-11 | 2024-04-26 | 江苏凌步智能科技有限公司 | Active knee joint structure of human exoskeleton |
| CN110861069B (en) * | 2019-10-14 | 2023-12-15 | 中国科学院深圳先进技术研究院 | Support assembly and exoskeleton robot |
| CN110861070B (en) * | 2019-10-14 | 2024-02-20 | 中国科学院深圳先进技术研究院 | Support assembly and exoskeleton robot |
| CN110861068B (en) * | 2019-10-14 | 2024-02-20 | 中国科学院深圳先进技术研究院 | Exoskeleton robot |
| CN111096876B (en) * | 2019-11-14 | 2024-05-14 | 清华大学 | Lower limb load moving exoskeleton |
| CN113601488B (en) * | 2021-09-16 | 2022-07-29 | 重庆理工大学 | Lower limb exoskeleton capable of capturing negative power of knee joint by ratchet-bevel gear transmission |
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