CN110393651A - One kind having apery kneed knee joint assistance exoskeleton robot - Google Patents
One kind having apery kneed knee joint assistance exoskeleton robot Download PDFInfo
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- CN110393651A CN110393651A CN201910664755.4A CN201910664755A CN110393651A CN 110393651 A CN110393651 A CN 110393651A CN 201910664755 A CN201910664755 A CN 201910664755A CN 110393651 A CN110393651 A CN 110393651A
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 107
- 210000002414 leg Anatomy 0.000 claims abstract description 83
- 230000007246 mechanism Effects 0.000 claims abstract description 73
- 230000033001 locomotion Effects 0.000 claims abstract description 36
- 210000000689 upper leg Anatomy 0.000 claims description 55
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 4
- 230000008450 motivation Effects 0.000 claims description 2
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 230000006378 damage Effects 0.000 description 7
- 210000003127 knee Anatomy 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000004064 recycling Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 230000010358 mechanical oscillation Effects 0.000 description 2
- 238000011176 pooling Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 208000034656 Contusions Diseases 0.000 description 1
- 208000029549 Muscle injury Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 208000034526 bruise Diseases 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 210000000697 sensory organ Anatomy 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 210000004872 soft tissue Anatomy 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—Knee
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
- Prostheses (AREA)
Abstract
The invention discloses one kind to have apery kneed knee joint assistance exoskeleton robot, including big leg assembly, apery knee-joint mechanism, shank component and driving mechanism, big leg assembly is connected with apery knee-joint mechanism respectively with shank component, and driving mechanism drives shank component to drive the rotation of apery knee-joint mechanism；With the swing of shank component, the rotation center of apery knee-joint mechanism is moved up and down, and radius of turn changes, to imitate human body knee joint movement.Wherein, apery knee-joint mechanism is the rotary joint for complying fully with human body knee joint rotating rule, joint rotary rail is designed according to human body knee joint rotary motion trace, joint rotation center is a movable block that can be displaced by straight-line groove, it can adapt to the variation of rotation center and radius of turn during articulation, the disadvantage that traditional knee joint ectoskeleton causes it low with wearing personnel's fitness using single-shaft-rotation joint is overcome, man-machine compatibility is improved.
Description
Technical field
The present invention relates to a kind of knee joint assistance exoskeleton robots, more particularly to there is the kneed knee joint of apery to help
Power exoskeleton robot.
Background technique
Exoskeleton robot is a kind of human-machine system being worn on outside operator's body, integrated use sensing,
The robot technology such as control, information fusion provide under the premise of guaranteeing the comfort and kinetic characteristic of wearer for wearer
Additional power enhances function of human body, to complete the task of more complicated difficulty, realizes the enhancing of strength and prolonging for sense organ
It stretches.Exoskeleton robot has attracted the positive research of more and more domestic and international scientific research institutions with These characteristics, it is military, police,
Medical treatment etc. has broad prospect of application.
Knee joint exoskeleton robot is as one such, it is intended to power-assisted human body walking.It is being executed for a line policeman
Special patrol searches that weight bearing when with explosive task is big, longevity of service, easily generation fatigue phenomenon, in addition cause knee,
The problem of physiological damage in the joints such as lumbar vertebrae, knee joint exoskeleton robot can increase policeman's distance on foot, promote weight bearing ability,
Muscle damage risk is reduced, to promote capacity for individual action.
Since knee joint exoskeleton robot is man-machine interactive system, how with human body perfect coordination it is unified, control it is submissive
It is the problem that knee joint exoskeleton robot development need overcomes.Human body knee joint is realized by the contraction and diastole of musculature
Joint motions, flexibility possessed by musculature facilitate the impact of outer bound pair knee joint and human body when kicking motion, protect people
Body escapes injury.Knee joint is the rotary joint for becoming rotation center, becoming radius of turn, its instantaneous center of rotation moves therewith when rotation
It is dynamic.However, knee joint is merely designed as uniaxial joint by knee joint exoskeleton robot traditional at present, center of rotation is solid
Determine, not the actual movement rule of reference human body knee joint, the dynamic change of human body knee joint shaft can not be adapted in the course of work,
People-machine knee joint shaft dislocation is caused, it is lower with the fitness of human body knee joint during actual motion, for a long time using will lead
The problems such as causing uncomfortable wearing, soft tissue bruise.In addition, knee joint exoskeleton robot is mostly using rigidity driving side at present
Formula, with motor direct-drive or Driven by Hydraulic Cylinder.Driving device lacks flexibility, does not have pooling feature, is easy to be rushed by the external world
The damage hit, personnel dress safety and comfort is poor, and there are hidden danger in terms of safety in utilization.Therefore, it is necessary to research and develop symbol
That closes human body knee joint structure and movement mechanism has apery kneed knee joint assistance exoskeleton robot, it is ensured that ectoskeleton
Robot motion is consistent with human motion.
Summary of the invention
It is a kind of with the kneed knee joint assistance exoskeleton of apery technical problem to be solved by the present invention lies in providing
Robot.
In order to achieve the above technical purposes, the present invention adopts the following technical solutions:
One kind having apery kneed knee joint assistance exoskeleton robot, including big leg assembly, apery knee joint machine
Structure, shank component and driving mechanism, big leg assembly are connected with apery knee-joint mechanism respectively with shank component, and driving mechanism is driven
Dynamic shank component drives the rotation of apery knee-joint mechanism；Wherein, with the swing of shank component, the apery knee-joint mechanism
Rotation center moves up and down, and radius of turn changes, to imitate human body knee joint movement.
Wherein more preferably, the apery knee-joint mechanism includes femoribus internus connector, thigh outer connectors, in shank
Side connector, shank outer connectors, movable block, compressed spring I and compressed spring II；
Mounting hole is respectively arranged on medial leg connector and shank outer connectors, and in medial leg connector
With the rotary rail that with good grounds human body knee joint motion profile setting is respectively set on shank outer connectors；
Femoribus internus connector is connect with thigh outer connectors；In femoribus internus connector and thigh outer connectors phase
Pair side have straight-line groove, and the through-hole of strip is provided in the middle part of straight-line groove；Compressed spring I, movable block with
Compressed spring II is successively pressed in the straight-line groove being closed at two；
Cylindrical connecting column is respectively fixed in the left and right sides of movable block, two connecting columns are stretched out of through-hole respectively
It is arranged in the mounting hole of medial leg connector and shank outer connectors out and by bearing；
A cylindrical piece is respectively arranged in the outside of the lower end of femoribus internus connector and thigh outer connectors, two
Cylindrical piece passes through bearing respectively and is arranged in the rotary rail of medial leg connector and shank outer connectors；
With the swing of shank component, two cylindrical pieces slide in rotary rail respectively, also, movable block is in straight-line groove
In move up and down, movable block is the rotation center of big leg assembly and shank component, also, the distance between movable block and cylindrical piece
Constitute the radius of turn of variation.
Wherein more preferably, the shape of the rotary rail meets the moving rail of the human body knee joint horizontal rotating shaft center of curvature
Mark --- J-type curve.
Wherein more preferably, the driving mechanism is using series connection flexible actuator, by spring connecting mechanism driving input with
Flexible drive is realized in output.
Wherein more preferably, the driving mechanism includes driving motor component, lead screw shaft, linear guide, output shaft, lead screw spiral shell
It is cap, upper layer connecting plate, middle layer connecting plate, lower layer's connecting plate, support plate, fixed plate, compressed spring, shank link link block, small
Leg connecting rod and motor supporting base；
The driving motor component is arranged in the upper end of entire driving mechanism, driving motor component by motor supporting base with
Big leg assembly is fixed；The lower end of entire driving mechanism is arranged in shank link link block, and shank link link block is connected by shank
Bar is connect with shank component, so that shank link can drive shank component to swing；
Support plate be arranged between driving motor component and shank link link block, the top and bottom of lead screw shaft respectively with
Driving motor component is connected with support plate, and lead screw shaft rotates under the driving of driving motor component；
Upper layer connecting plate, middle layer connecting plate and lower layer's connecting plate are arranged between driving motor component and support plate；It is fixed
Plate links together upper layer connecting plate with lower layer connecting plate；
Lead screw shaft sequentially passes through upper layer connecting plate, middle layer connecting plate and lower layer's connecting plate；Lead screw is provided in lead screw shaft
Nut, lead screw nut are fixed with middle layer connecting plate, and with the rotation of lead screw shaft, lead screw nut drives middle layer connecting plate along lead screw
Axis moves up and down；
The both ends of linear guide are fixedly connected with driving motor component and support plate respectively, and two linear guides pass through fixation
Linear bearing passes through the diagonal positions of upper layer connecting plate, middle layer connecting plate and lower layer's connecting plate；
The both ends of output shaft are fixedly connected with upper layer connecting plate and shank link link block respectively, and two output shafts pass through solid
Boning out bearing passes through another diagonal positions of middle layer connecting plate, lower layer's connecting plate and support plate；
It is arranged respectively on every output shaft there are two compressed spring, one of compressed spring is arranged in upper layer connecting plate
Between the connecting rod of middle layer, the setting of another compressed spring is in middle level between connecting plate and lower layer's connecting plate；
In the driving mechanism, driving motor Component driver lead screw shaft rotation, lead screw nut moves along a straight line along lead screw shaft,
To drive the middle layer connecting plate connecting with lead screw nut to move along linear guide；Then, middle layer connecting plate passes through compressed spring
Upper layer connecting plate and lower layer's connecting plate are acted on, the output shaft connecting with upper layer connecting plate is driven to move along a straight line.
It is provided by the present invention have apery kneed knee joint assistance exoskeleton robot include big leg assembly, apery
Knee-joint mechanism, shank component and driving mechanism.Wherein, apery knee-joint mechanism is to comply fully with human body knee joint rotating rule
Rotary joint, joint rotary rail designs according to human body knee joint rotary motion trace, and joint rotation center is one can be by straight-line groove
The movable block of displacement can adapt to the variation of rotation center and radius of turn during articulation, overcome traditional knee joint
The disadvantage that ectoskeleton causes it low with wearing personnel's fitness using single-shaft-rotation joint, improves man-machine compatibility.In addition, driving
Motivation structure uses a kind of series connection flexible actuator, makes have certain swing offset serious forgiveness during driving, when encountering impact
The energy that collision generates can be suitably shunk and then be buffered, while energy absorption, storage, recycling can also not only be improved
Capacity usage ratio, and mechanical oscillation is eliminated to a certain extent, mitigate the mechanical damage of components, ensures wearing personnel's
Safety in utilization.
Detailed description of the invention
Fig. 1 is the structural representation provided by the present invention with apery kneed knee joint assistance exoskeleton robot
Figure；
Fig. 2 is the structural exploded view of Tu1Zhong executing agency；
Fig. 3 is the structural exploded view of apery knee-joint mechanism in Fig. 1；
Fig. 4 is the assembled state figure one of apery knee-joint mechanism in Fig. 3；
Fig. 5 is the assembled state figure two of apery knee-joint mechanism in Fig. 3；
Fig. 6 is the structural schematic diagram of driving mechanism in Fig. 1；
Fig. 7 is the workflow provided by the present invention with apery kneed knee joint assistance exoskeleton robot
Figure.
Specific embodiment
Technical solution of the present invention is further described in detail with specific embodiment with reference to the accompanying drawing.
Uniaxial joint is merely designed as to solve traditional knee joint exoskeleton robot for knee joint, in the course of work
The dynamic change that can not adapt to human body knee joint shaft, it is lower with the fitness of human body knee joint；Driving mechanism mostly uses rigidity
Driving device is easy damage by foreign impacts, lacks flexible, does not have a pooling feature, and personnel dress safety and comfortable
The problems such as property is poor.The invention proposes one kind to have apery kneed knee joint assistance exoskeleton robot, mainly includes
Big leg assembly 1, apery knee-joint mechanism 2, shank component 3 and driving mechanism 4.Wherein, apery knee-joint mechanism 2 is to comply fully with
The rotary joint of human body knee joint rotating rule, joint rotary rail are designed according to human body knee joint rotary motion trace, joint rotation
Center can adapt to the variation of rotation center and radius of turn during articulation, overcome traditional knee joint ectoskeleton machine
The disadvantage that people causes it low with wearing personnel's fitness using single-shaft-rotation joint, improves man-machine compatibility.Meanwhile the present invention
Driving mechanism 4 is also improved, driving mechanism 4 uses a kind of series connection flexible actuator, can suitably receive when encountering impact
The energy of retraction and buffering collision generation, while energy absorption, storage, recycling can also be not only increased energy utilization
Rate, and eliminate mechanical oscillation to a certain extent mitigates the mechanical damage of components, ensure wearing personnel using safe
Property.
Specifically, as shown in Figure 1, provided by the present invention have the kneed knee joint assistance exoskeleton machine of apery
People, including big leg assembly 1, apery knee-joint mechanism 2, shank component 3 and driving mechanism 4, wherein big leg assembly 1, apery knee close
Section mechanism 2 and shank component 3 constitute executing agency.Big leg assembly 1 and shank component 3 respectively with 2 phase of apery knee-joint mechanism
Connection.Driving mechanism 4 is fixedly connected by motor supporting base 415 with big leg assembly 1, and shank link 414 and shank component 3 are passed through
Connection, to drive shank component 3 that apery knee-joint mechanism 2 is driven to rotate.
As shown in Fig. 2, big leg assembly 1 is by femoribus internus plate 11, thigh outer panel 12, thigh support bar 13 and thigh bandage
Plate 14 forms.
Femoribus internus plate 11 and thigh outer panel 12 are two elongated support plates with symmetrical structure；Support plate it is upper
The end shape at end is semicircle, and the lower end of support plate is the end with rectangular link block, the width of support plate top half
Less than the width of lower end.Wherein, the lower end of rectangular link block has the arc receiving portion of indent, and arc receiving portion is small for accommodating
The circular upper of leg assembly 3, and cooperate with the circular upper of shank component 3, allow the upper end of shank component 3 to revolve inside it
Turn.In addition, being separately provided in the side opposite with the rectangular interconnecting piece of 12 lower end of thigh outer panel of femoribus internus plate 11
The vacancy of insertion installation femoribus internus connector 21 and thigh outer connectors 22, vacancy is arranged inside rectangular interconnecting piece rearward
Position.When femoribus internus plate 11 and thigh outer panel 12 are connect with apery knee-joint mechanism 2, femoribus internus plate 11 and thigh
The part that the rectangular interconnecting piece of 12 lower end of outer panel is forward is closed and is fixed together, femoribus internus connector 21 and big leg outer side
Connector 22 is embedded in is fixed in the vacancy inside two rectangular link blocks rearward together, to realize big leg assembly 1 and apery
Knee-joint mechanism 2 is stably connected with.
The distance between femoribus internus plate 11 and thigh outer panel 12 are wide up and down；In femoribus internus plate 11 and big leg outer side
Multiple isometric thigh support bars 13 are provided between plate 12, multiple thigh support bars 13 are from top to bottom by 11 He of femoribus internus plate
Thigh outer panel 12 is fixed into an entirety；Thigh bandage plate 14 is fixed on the outside of femoribus internus plate 11, for matching with bandage
Close the side that big leg assembly 1 is fixed on to thigh.
Shank component 3 is made of medial leg plate 31, shank outer panel 32, leg support bar 33 and shank bandage plate 34.
Medial leg plate 31 and shank outer panel 32 are two elongated support plates with symmetrical structure, and the end shape of lower end is
Semicircle, upper end have circular end, wherein the diameter of rounded ends is greater than the width of support plate, and rounded ends setting exists
In the arc receiving portion of 12 lower end of femoribus internus plate 11 and thigh outer panel, and it can rotate freely.31 He of medial leg plate
It is wide above and below spacing between shank outer panel 32；Spacing and femoribus internus between medial leg plate 31 and shank outer panel 32
Spacing between plate 11 and thigh outer panel 12 is wide.It is provided between medial leg plate 31 and shank outer panel 32 multiple etc.
Medial leg plate 31 and shank outer panel 32 are fixed into one from top to bottom by long leg support bar 33, multiple leg support bars 33
A entirety；Shank bandage plate 34 is fixed on the outside of medial leg plate 31, small for being fixed on shank component 3 with bandage cooperation
The side of leg.
As shown in figure 3, apery knee-joint mechanism 2 is including in femoribus internus connector 21, thigh outer connectors 22, shank
Side connector 23, shank outer connectors 24, movable block 25, compressed spring I 26, compressed spring II 27 and link block 28.
Wherein, femoribus internus connector 21 and thigh outer connectors 22 are two symmetrically arranged cuboids, in thigh
The length direction of side connector 21 and thigh outer connectors 22 is vertically arranged.Femoribus internus connector 21 is connect with big leg outer side
Two opposite sides of part 22 connect and are integrated (referring to fig. 4), the upper end 201 of femoribus internus connector 21 and femoribus internus
The lower end of plate 11 connects, and the upper end 201 of thigh outer connectors 22 is connect with the lower end of thigh outer panel 12, femoribus internus connection
The upper end 201 of part 21 and thigh outer connectors 22 is embedded in is fixed on 12 lower end of femoribus internus plate 11 and thigh outer panel together
The inside of two rectangular interconnecting pieces.In the inside (opposite side) of femoribus internus connector 21 and thigh outer connectors 22 difference
It is provided with rectangular straight-line groove 202, straight-line groove 202 is blind hole structure, and the middle part of straight-line groove 202 is provided with the logical of strip
Hole 203, through-hole 203 are vertically arranged in the outside (opposite side) of femoribus internus connector 21 and thigh outer connectors 22.Pressure
Contracting spring I 26, movable block 25 and compressed spring II 27 are successively pressed in the straight-line groove 202 being closed at two.Movable block 25 is excellent
It is selected as square movable block or cuboid movable block.Connecting column, the connection of upside are fixed in the two sides up and down of movable block 25
Column protrudes into compressed spring I 26, and the connecting column of downside protrudes into compressed spring II 27, is convenient for compressed spring I 26, movable block
The installation of 25 and compressed spring II 27.The orientation being subject in Fig. 3 is respectively fixed with circle in the left and right sides of movable block 25
Cylindrical connecting column 205, the connecting column 205 for being fixed on 25 left side of movable block are stretched out of thigh outer connectors 22 through-hole 203
It is arranged in the mounting hole 208 on shank outer connectors 24 out and by bearing；It is fixed on the connecting column on 25 right side of movable block
205 stretch out out of femoribus internus connector 21 through-hole 203 and the installation on shank outer connectors 23 are arranged in by bearing
In hole 208.A cylindrical piece is respectively arranged in the outside of the lower end of femoribus internus connector 21 and thigh outer connectors 22
204, two cylindrical pieces 204 are mounted on by bearing respectively to be set on medial leg connector 23 and shank outer connectors 24
Rotary rail 209 in, with the swing of shank component 3, two cylindrical pieces 204 slide in rotary rail 209 respectively.With
Sliding of the cylindrical piece 204 in rotary rail 209, movable block 25 move up and down in straight-line groove 202, the circle of 25 two sides of movable block
Cylindricality connecting column 205 moves up and down in through-hole 203.
Medial leg connector 23 and shank outer connectors 24 are the big disks such as two, 23 He of medial leg connector
The size of shank outer connectors 24 is identical as the size of rounded ends of 32 upper end of medial leg plate 31 and shank outer panel.It is small
The outside of inboard leg connector 23 connects after being overlapped with the upper end of medial leg plate 31, the outside of shank outer connectors 24 with it is small
The upper end of leg outer side plate 32 connects after being overlapped.It is connected between medial leg connector 23 and shank outer connectors 24 by arc
Block 28 connects, the left and right sides of arc link block 28 lower half with medial leg connector 23 and shank outer connectors 24 respectively
Side arc-shaped edges are along fixing, so that medial leg connector 23 and shank outer connectors 24 are connected as an entirety (such as Fig. 4 institute
Show).The width of arc link block 28 is equal or slightly larger than the thickness and thigh outer connectors 22 of femoribus internus connector 21
The sum of thickness.
As shown in figure 5, it is respectively arranged with mounting hole 208 on medial leg connector 23 and shank outer connectors 24,
The top half of medial leg connector 23 and shank outer connectors 24 is arranged in mounting hole 208, is used for and is arranged in movement
The cylindrical connecting column 205 of the left and right sides of block 25 is connected by bearing.It is connected in medial leg connector 23 with small leg outer side
The rotary rail 209 of with good grounds human body knee joint motion profile setting is respectively set on part 24, the shape of rotary rail 209 meets
The motion track of the human body knee joint horizontal rotating shaft center of curvature --- J-type curve (referring to Fig. 5).Setting is connected in big leg outer side
The cylindrical piece 204 of the outside of the lower end of part 21, femoribus internus connector 22 is installed in rotary rail 209 by bearing, and can
It is moved along rotary rail 209.
23 He of medial leg connector in the apery knee-joint mechanism 2 being connected thereto is driven when shank component 3 moves
Shank outer connectors 24 rotate, and the circle of the outside of the lower end of femoribus internus connector 21 and thigh outer connectors 22 is arranged in
Column block 204 assembles bearing and is set along medial leg connector 23 and shank outer connectors 24 according to human body knee joint motion profile
The rotary rail 209 set moves, and the movable block 25 inside femoribus internus connector 21 and thigh outer connectors 22 is closed with knee
It saves the variation of radius of turn and moves up and down, to realize apery motion of knee joint.
During shank component 3 is swung, as cylindrical piece 204 slides and movable block 25 in rotary rail 209
It being moved up and down in straight-line groove 202, the rotation center (movable block 25) of big leg assembly 1 and shank component 3 moves up and down, and
And the distance between movable block 25 and cylindrical piece 204 constitute the radius of turn of variation, to simulate human body knee joint movement.
As shown in fig. 6, driving mechanism 4 includes driving motor component 41, lead screw shaft 42, linear guide 43, output shaft 44, silk
Thick stick nut 45, upper layer connecting plate 46, middle layer connecting plate 47, lower layer's connecting plate 48, support plate 49, fixed plate 410, compressed spring
411, stay-supported type displacement sensor 412, shank link link block 413, shank link 414 and motor supporting base 415.
Wherein, the upper end of entire driving mechanism 4 is arranged in driving motor component 41, and driving motor component 41 passes through motor branch
The femoribus internus plate 11 and thigh outer panel 12 supportted in seat 415 and big leg assembly 1 is fixed.
The lower end of entire driving mechanism 4 is arranged in shank link link block 413, and shank link link block 413 passes through shank
Connecting rod 414 in shank component 3 medial leg plate 31 and shank outer panel 32 connect；Shank link link block 413 and shank
Connecting rod 414, shank link 414 and shank side plate (including medial leg plate 31 and shank outer panel 32) are cut with scissors by pitman shaft respectively
It connects, so that shank link 414 can drive shank component 3 to swing.
Support plate 49 be arranged between driving motor component 41 and shank link link block 413, the upper end of lead screw shaft 42 and
Lower end is connect with driving motor component 41 and support plate 42 respectively, and lead screw shaft 42 rotates under the driving of driving motor component 41.
Upper layer connecting plate 46, middle layer connecting plate 47 and lower layer's connecting plate 48 are successively set on driving motor component 41 and support
Between plate 49.Fixed plate 410 links together upper layer connecting plate 46 and lower layer connecting plate 48.
Lead screw shaft 42 sequentially passes through upper layer connecting plate 46, middle layer connecting plate 47 and lower layer's connecting plate 48.In lead screw shaft 42
It is provided with lead screw nut 45, lead screw nut 45 is arranged between upper layer connecting plate 46 and middle layer connecting plate 47, also, lead screw nut
45 is fixed with middle layer connecting plate 47, and with the rotation of lead screw shaft 42, lead screw nut 45 drives middle layer connecting plate 47 along lead screw shaft
42 move up and down.
Linear guide 42 and output shaft 44 are arranged in diagonal line respectively.
The both ends of linear guide 42 are fixedly connected with driving motor component 41 and support plate 49 respectively.Two linear guides 42
The diagonal positions of upper layer connecting plate 46, middle layer connecting plate 47 and lower layer's connecting plate 48 are passed through by fixed straight line bearing respectively.
The both ends of output shaft 44 are fixedly connected with upper layer connecting plate 46 and shank link link block 413 respectively.Two outputs
Axis 44 passes through another diagonal line position of middle layer connecting plate 47, lower layer's connecting plate 48 and support plate 49 by fixed straight line bearing respectively
It sets.
It is arranged respectively on every output shaft 44 there are two compressed spring 411, one of compressed spring 411 is arranged upper
Between layer connecting plate 46 and middle layer connecting rod 47, connecting plate 47 and lower layer's connecting plate in middle level is arranged in another compressed spring 411
Between 48.
In above-mentioned driving mechanism 4, driving motor component 41 drives lead screw shaft 42 to rotate；Lead screw nut 45 is connect with middle layer
Plate 47 connects, and is rotated by lead screw shaft 42 and realizes that lead screw nut 45 along the linear motion of lead screw shaft 42, is connected thereto to drive
Middle layer connecting plate 47 moved along linear guide 43；Then, upper layer connecting plate 46 is acted on by compressed spring 411 and lower layer connects
Fishplate bar 47 drives the output shaft 44 connecting with upper layer connecting plate 46 to move along a straight line；Output shaft 44 drives shank link link block
413 and shank link 414 move.It is flexible by spring connecting mechanism driving input and output realization during above-mentioned driving
Driving.
In addition, stay-supported type displacement sensor 412 is fixed on 49 lower section of support plate, the bracing wire of stay-supported type displacement sensor 412
It ties up on shank link link block 413, reciprocating motion is realized with the swing of shank component 3, with real-time measurement shank component 3
Motion information.Stay-supported type displacement sensor 412 is connected with the control unit of driving mechanism 4, and control unit is used for according to stay-supported
The measurement result of displacement sensor 412 controls the driving force and driving speed of driving motor component.
Have outside the kneed knee joint power-assisted of apery below with reference to workflow shown in Fig. 7 to provided by the present invention
The work process of bone robot is introduced.
When work starts, personnel dress knee joint assistance exoskeleton robot, fix thigh bandage respectively by bandage
Plate 14 and shank bandage plate 34.Big leg assembly 1 is connected by the thigh medial and lateral of the inside and outside side plate of thigh and apery knee-joint mechanism 2
Fitting connection, shank component 3 are connect by the inside and outside side plate of shank with the shank medial and lateral connector of apery knee-joint mechanism 2.
Driving mechanism 4 is fixedly connected by motor supporting base 415 with big leg assembly 1, is connect by shank link 414 with shank component 3,
To which driving mechanism 4 can drive shank component 3 that apery knee-joint mechanism 2 is driven to rotate.
As shown in fig. 7, personnel start walking operations, the movement of 412 real-time measurement shank component 3 of stay-supported type displacement sensor
Signal, driving motor component 41 drive lead screw shaft 42 to rotate according to the motor adjustment driving force and driving speed of shank component 3.
Linear guide 43 and output shaft 44 in diagonal line arrangement, the both ends of linear guide 43 respectively with driving motor component 41 and support plate
49 are fixedly connected, and the both ends of output shaft 44 are fixedly connected with upper layer connecting plate 46 and shank link link block 413 respectively.Setting exists
Lead screw nut 45 in lead screw shaft 42 is connect with middle layer connecting plate 47, is rotated by lead screw shaft 42 and is realized lead screw nut 45 along lead screw
The linear motion of axis 42 drives the middle layer connecting plate 47 connecting with lead screw nut 45 to move along linear guide 43, then passes through pressure
Contracting spring 411 acts on upper layer connecting plate 46 and lower layer's connecting plate 48, drives 44 edge of output shaft connecting with upper layer connecting plate 46
Linear motion；Flexible drive is realized with output by spring connecting mechanism driving input, can suitably be received when encountering impact
The energy of retraction and buffering collision generation, plays shock absorbing effect.Output shaft 44 moves along a straight line to be connected by shank link
Part 413 drives shank link 414 to move, and shank link 414 drives 3 reciprocally swinging of shank component.
Shank component 3 drives the shank medial and lateral connector of apery knee-joint mechanism 2 by the inside and outside side plate of shank simultaneously
Rotation, the cylindrical piece 204 that the outside of thigh medial and lateral connector lower end is arranged in are arranged along according to human body knee joint motion profile
Rotary rail 209 move, while the movable block 25 in rectangle straight-line groove 202 is changed in real time according to oint motion trajectory
Position adapts to the variation of rotation center and radius of turn during articulation, thus kneed fortune when personnel being cooperated to walk
Dynamic rule.
At the end of work, personnel stop walking, take off after unlocking large and small leg bandage.
In conclusion provided by the present invention have apery kneed knee joint assistance exoskeleton robot, including big
Leg assembly, apery knee-joint mechanism, shank component and driving mechanism.Wherein, apery knee-joint mechanism is to comply fully with human body knee
The rotary joint of articulation rule, joint rotary rail are designed according to human body knee joint rotary motion trace, and joint rotation center is
One movable block that can be displaced by straight-line groove, change position according to oint motion trajectory, during can adapt to articulation in real time
The variation of rotation center and radius of turn, overcoming traditional knee joint ectoskeleton using single-shaft-rotation joint leads to itself and wearing people
The low disadvantage of member's fitness, improves man-machine compatibility.In addition, driving mechanism uses a kind of series connection flexible actuator, make to drive
There is certain swing offset serious forgiveness in the process, the energy that collision generates can be suitably shunk and then buffered when encountering impact,
Energy absorption, storage, recycling can also be not only increased capacity usage ratio, and eliminate machine to a certain extent simultaneously
Tool oscillation, mitigates the mechanical damage of components, ensures the safety in utilization of wearing personnel.It is above-mentioned that there is the kneed knee of apery to close
Assistance exoskeleton robot is saved, it is no matter all very similar with human body knee joint from joint structure or drive mechanism, it overcomes
The shortcomings that traditional knee joint exoskeleton robot, has the stronger market competitiveness.
There is apery kneed knee joint assistance exoskeleton robot to carry out one kind provided by the present invention above
Detailed description.For those of ordinary skill in the art, it is done under the premise of without departing substantially from true spirit
Any obvious change, will all constitute the infringement weighed to the invention patent, corresponding legal liabilities will be undertaken.
Claims (10)
1. one kind has apery kneed knee joint assistance exoskeleton robot, it is characterised in that: including big leg assembly, apery
Knee-joint mechanism, shank component and driving mechanism, big leg assembly are connected with apery knee-joint mechanism respectively with shank component, drive
Motivation structure drives shank component to drive the rotation of apery knee-joint mechanism；
Wherein, with the swing of shank component, the rotation center of apery knee-joint mechanism is moved up and down, and radius of turn occurs
Variation, to imitate human body knee joint movement.
2. having apery kneed knee joint assistance exoskeleton robot as described in claim 1, it is characterised in that:
The apery knee-joint mechanism include femoribus internus connector, thigh outer connectors, medial leg connector, outside shank
Side connector, movable block, compressed spring I and compressed spring II；
It is respectively arranged with mounting hole on medial leg connector and shank outer connectors, and in medial leg connector and small
The rotary rail of with good grounds human body knee joint motion profile setting is respectively set on leg outer side connector；
Femoribus internus connector is connect with thigh outer connectors；It is opposite in femoribus internus connector and thigh outer connectors
Side has straight-line groove, and the through-hole of strip is provided in the middle part of straight-line groove；Compressed spring I, movable block and compression
Spring II is successively pressed in the straight-line groove being closed at two；
Cylindrical connecting column is respectively fixed in the left and right sides of movable block, two connecting columns stretch out simultaneously out of through-hole respectively
It is arranged in the mounting hole of medial leg connector and shank outer connectors by bearing；
A cylindrical piece, two cylinders are respectively arranged in the outside of the lower end of femoribus internus connector and thigh outer connectors
Block passes through bearing respectively and is arranged in the rotary rail of medial leg connector and shank outer connectors；
With the swing of shank component, two cylindrical pieces slide in rotary rail respectively, also, movable block in straight-line groove on
Lower movement, movable block is the rotation center of big leg assembly and shank component, also, the distance between movable block and cylindrical piece are constituted
The radius of turn of variation.
3. having apery kneed knee joint assistance exoskeleton robot as claimed in claim 2, it is characterised in that:
The shape of the rotary rail meets the motion track of the human body knee joint horizontal rotating shaft center of curvature --- J-type curve.
4. having apery kneed knee joint assistance exoskeleton robot as claimed in claim 2, it is characterised in that:
The big leg assembly includes femoribus internus plate, thigh outer panel, thigh support bar and thigh bandage plate, wherein in thigh
The upper end of side connector is connect with the lower end of femoribus internus plate, and the upper end of thigh outer connectors and the lower end of thigh outer panel connect
It connects, the upper end of femoribus internus connector and thigh outer connectors is embedded in is fixed under femoribus internus plate and thigh outer panel together
The inside of two rectangular interconnecting pieces at end.
5. having apery kneed knee joint assistance exoskeleton robot as claimed in claim 4, it is characterised in that:
The shank component includes medial leg plate, shank outer panel, leg support bar and shank bandage plate；
Medial leg connector and shank outer connectors are the big disks such as two, and medial leg connector and small leg outer side connect
The size of fitting is identical as the size of rounded ends of medial leg plate and shank outer panel upper end；
The outside of medial leg connector is overlapped and connect with the upper end of medial leg plate, the outside of shank outer connectors with it is small
The upper end of leg outer side plate is overlapped and connects.
6. having apery kneed knee joint assistance exoskeleton robot as claimed in claim 5, it is characterised in that:
The rectangular interconnecting piece of the lower end of femoribus internus plate and thigh outer panel has the arc receiving portion of indent；Medial leg plate and
The rounded ends of shank outer panel upper end are arranged in the arc receiving portion of femoribus internus plate and thigh outer panel lower end, and can
To rotate freely.
7. having apery kneed knee joint assistance exoskeleton robot as claimed in claim 2, it is characterised in that:
It is connected between medial leg connector and shank outer connectors by link block；The shape of link block is arc, arc
The left and right sides of link block is respectively with arc-shaped edges half side under medial leg connector and shank outer connectors along fixed；Arc
The width of link block is equal or slightly larger than the sum of thickness and thickness of thigh outer connectors of femoribus internus connector.
8. having apery kneed knee joint assistance exoskeleton robot as claimed in claim 1 or 2, it is characterised in that:
The driving mechanism realizes flexible drive with output using series connection flexible actuator, by spring connecting mechanism driving input.
9. having apery kneed knee joint assistance exoskeleton robot as claimed in claim 8, it is characterised in that: described
Driving mechanism includes driving motor component, lead screw shaft, linear guide, output shaft, lead screw nut, upper layer connecting plate, middle layer connection
Plate, lower layer's connecting plate, support plate, fixed plate, compressed spring, shank link link block, shank link and motor supporting base；
Wherein, the upper end of entire driving mechanism is arranged in driving motor component, and driving motor component is by motor supporting base and greatly
Leg assembly is fixed；The lower end of entire driving mechanism is arranged in shank link link block, and shank link link block passes through shank link
It is connect with shank component, so that shank link can drive shank component to swing；
Support plate be arranged between driving motor component and shank link link block, the top and bottom of lead screw shaft respectively with driving
Electric machine assembly is connected with support plate, and lead screw shaft rotates under the driving of driving motor component；
Upper layer connecting plate, middle layer connecting plate and lower layer's connecting plate are arranged between driving motor component and support plate；Fixed plate will
Upper layer connecting plate links together with lower layer's connecting plate；
Lead screw shaft sequentially passes through upper layer connecting plate, middle layer connecting plate and lower layer's connecting plate；Lead screw nut is provided in lead screw shaft,
Lead screw nut is fixed with middle layer connecting plate, and with the rotation of lead screw shaft, lead screw nut drives middle layer connecting plate along in lead screw shaft
Lower movement；
The both ends of linear guide are fixedly connected with driving motor component and support plate respectively, and two linear guides pass through fixed straight line
Bearing passes through the diagonal positions of upper layer connecting plate, middle layer connecting plate and lower layer's connecting plate；
The both ends of output shaft are fixedly connected with upper layer connecting plate and shank link link block respectively, and two output shafts pass through fixed straight
Spool holds another diagonal positions across middle layer connecting plate, lower layer's connecting plate and support plate；
It is arranged respectively on every output shaft there are two compressed spring, one of compressed spring is arranged in upper layer connecting plate in
Between layer connecting rod, the setting of another compressed spring is in middle level between connecting plate and lower layer's connecting plate；
In the driving mechanism, driving motor Component driver lead screw shaft rotation, lead screw nut moves along a straight line along lead screw shaft, thus
The middle layer connecting plate connecting with lead screw nut is driven to move along linear guide；Then, middle layer connecting plate is acted on by compressed spring
In upper layer connecting plate and lower layer's connecting plate, the output shaft connecting with upper layer connecting plate is driven to move along a straight line.
10. having apery kneed knee joint assistance exoskeleton robot as claimed in claim 9, it is characterised in that:
It further include stay-supported type displacement sensor, stay-supported type displacement sensor is fixed below support plate, stay-supported type displacement sensor
Bracing wire tie up on shank link link block, reciprocating motion is realized with the swing of shank component, with real-time measurement shank component
Motion information.
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| CN201910664755.4A CN110393651A (en) | 2019-07-23 | 2019-07-23 | One kind having apery kneed knee joint assistance exoskeleton robot |
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| CN201910664755.4A CN110393651A (en) | 2019-07-23 | 2019-07-23 | One kind having apery kneed knee joint assistance exoskeleton robot |
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| CN111015727A (en) * | 2019-12-10 | 2020-04-17 | 长春工业大学 | Stretching bionic artificial knee joint |
| CN111360852A (en) * | 2020-04-27 | 2020-07-03 | 徐航 | Control method of follow-up mechanical arm |
| CN111904796A (en) * | 2020-08-31 | 2020-11-10 | 中国人民解放军空军军医大学 | Knee joint training device |
| CN112589829A (en) * | 2020-12-16 | 2021-04-02 | 迈宝智能科技(苏州)有限公司 | Exoskeleton knee joint driving structure based on flexible cam mechanism |
| CN113771084A (en) * | 2021-08-16 | 2021-12-10 | 迈宝智能科技(苏州)有限公司 | Knee joint elastic driving device and exoskeleton robot |
| CN114869701A (en) * | 2022-05-19 | 2022-08-09 | 东北大学佛山研究生院 | Wearable gentle and agreeable knee joint ectoskeleton device |
| CN117547439A (en) * | 2024-01-12 | 2024-02-13 | 清华大学 | Five-degree-of-freedom center self-adaptive knee joint static progressive drafting trainer |
| CN118288266A (en) * | 2024-06-06 | 2024-07-05 | 陕西三航科技有限公司 | Human knee joint assistance exoskeleton device |
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