CN110539289B - Three-degree-of-freedom centering hip joint mechanism of power-assisted exoskeleton - Google Patents
Three-degree-of-freedom centering hip joint mechanism of power-assisted exoskeleton Download PDFInfo
- Publication number
- CN110539289B CN110539289B CN201910735145.9A CN201910735145A CN110539289B CN 110539289 B CN110539289 B CN 110539289B CN 201910735145 A CN201910735145 A CN 201910735145A CN 110539289 B CN110539289 B CN 110539289B
- Authority
- CN
- China
- Prior art keywords
- locking
- degree
- freedom
- thigh
- vertical shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Abstract
The invention discloses a three-degree-of-freedom centering hip joint mechanism of an assistance exoskeleton, which comprises a waist adjustable part, a three-degree-of-freedom centering serial part and a thigh adjustable part. The waist adjustable component is provided with a waist sliding cross beam which can be adjusted left and right; the three-degree-of-freedom centering series component is provided with a left and a right two parallelogram mechanisms formed by four vertical shafts; the output end is connected with the upper and lower positions of a crown shaft motor in the thigh adjustable part through the free vertical shaft to form a revolute pair. In order to adapt to the difference of body sizes of different wearers, the output end of the three-free centering series part is connected with the thigh adjustable part through an adjustable locking mechanism. Thigh outer panel and thigh bandage support that thigh adjustable part included, thigh outer panel and coronal axis motor are connected, install thigh bandage support on the thigh outer panel, and thigh bandage support position is adjustable. The invention realizes the three-degree-of-freedom centering of the hip on the premise of meeting the requirement of a working space.
Description
Technical Field
The invention belongs to the technical field of machinery, and particularly relates to a three-degree-of-freedom centering hip joint mechanism for a power-assisted exoskeleton robot.
Background
The power-assisted exoskeleton robot is wearable man-machine integrated equipment suitable for rescue and disaster relief, load marching and dangerous work in a complex terrain environment. A bionic-like structure is often adopted in the traditional mechanism design, the design is that the lower limbs of a human body are simplified into a multi-rigid-body model, a humanoid structure is adopted, and a hip joint and an ankle joint with a multi-degree-of-freedom series structure and a knee joint with a single-degree-of-freedom structure are designed. However, in order to simplify the mechanism design and improve the overall load-bearing performance of the mechanism, the hip joint usually selects a non-centering mechanism form, such as the BLEEX exoskeleton robot in the united states and the homa exoskeleton robot in korea. Because the joint arrangement form is not well centering the actual hip joint center of the human body, the actual wearing experience of the human body is greatly reduced, and the gait is deformed, so that the movement of a wearer is limited to a certain extent.
In order to solve the problem of centering of a hip joint mechanism in the power-assisted exoskeleton robot, a solution is provided by a plurality of scholars and research institutions at present. For example: chinese patent No. 201811377390.9 discloses a "power assisting exoskeleton hip joint structure", which can realize a multi-degree-of-freedom rigid-flexible combined structure of a hip, knee and ankle joint, and can fit the motion state of a human body joint to a higher degree, but only realizes the flexion and extension degrees of freedom and the centering of the human body hip joint in the two degrees of freedom of the hip, and will certainly hinder the motion of a wearer. Chinese patent No. 201810719712.7 discloses a "linearly driven three-degree-of-freedom parallel hip joint mechanism", which adopts a parallel topology structure, has a high rigidity characteristic while realizing three-degree-of-freedom centering, and the mechanism has a semi-decoupling characteristic, but the application of the parallel mechanism results in an excessively large overall structure of the hip, occupies a large amount of space, and is not suitable for being applied to a power-assisted exoskeleton robot which needs to perform various complex tasks.
Disclosure of Invention
The invention aims to provide a novel hip joint series mechanism suitable for an assistance exoskeleton, which can realize three-degree-of-freedom centering of a hip on the premise of meeting the requirement of a working space.
The invention relates to a three-degree-of-freedom centering hip joint mechanism of a power-assisted exoskeleton, which comprises a waist adjustable part, a three-degree-of-freedom centering series part and a thigh adjustable part.
The waist adjustable component is provided with a waist cross beam and waist sliding cross beams which are arranged on two sides of the waist cross beam and can slide left and right along the waist cross beam.
The three-degree-of-freedom centering series connection components are two sets and are respectively arranged on the waist sliding cross beams at two sides of the waist cross beam. The three-freedom-degree centering series component comprises a sagittal shaft seat, a vertical shaft seat, a sagittal shaft, a main horizontal rod, an auxiliary horizontal rod, four vertical shafts and a free vertical shaft. The four vertical shafts are respectively a first main vertical shaft, a first auxiliary vertical shaft, a second main vertical shaft and a second auxiliary vertical shaft. Wherein, the sagittal axis passes through the connecting hole at the end of the waist sliding beam and then is connected with the sagittal axis seat to form a revolute pair; a first main vertical shaft and a first auxiliary vertical shaft are arranged on the sagittal shaft seat; one end of the main horizontal rod and one end of the auxiliary horizontal rod are respectively sleeved on the first main vertical shaft and the first auxiliary vertical shaft; the other ends of the main horizontal rod and the auxiliary horizontal rod are respectively sleeved on the second main vertical shaft and the second auxiliary vertical shaft. The second main vertical shaft and the second auxiliary vertical shaft are arranged on the vertical shaft seat; the four vertical shafts are connected at the center to form a parallelogram mechanism; the front end of the vertical shaft seat is provided with a semi-annular connecting piece, and the upper end and the lower end of the vertical shaft seat are connected with a crown shaft motor through free vertical shafts.
The thigh adjustable part comprises a thigh outer side plate and a thigh bandage bracket; the upper part of the thigh outer side plate is fixed on the output shaft of the crown shaft motor; the thigh bandage bracket is matched and fixed with the adjusting screw hole at the lower part of the thigh outer side plate through a bolt.
The assistance exoskeleton three-degree-of-freedom centering hip joint mechanism with the structure comprises the following components in part by weight: the hip adduction and abduction passive movement is realized through a rotating pair formed between the centering component and the waist sliding beam. The second degree of freedom is: the rotation axis of the five-axis combined motion is coincided with the internal and external rotation motion axis of the hip joint of a human body. The third degree of freedom is: active flexion and extension movement of the hip in the sagittal plane is provided by a coronal axis motor. The rotation central axes of the three degrees of freedom are intersected at one point, the point is the center of the hip joint of the human body, the human-computer joint centering is realized, the wearing comfort of the human body is ensured, the respective degrees of freedom can rotate in a certain range through mechanical limiting, and the wearing safety of the human body is ensured.
The invention has the advantages that:
(1) the assistance exoskeleton three-degree-of-freedom centering hip joint mechanism disclosed by the invention realizes that the total motion axis of internal and external rotation of the hip is unchanged and just passes through the motion center of the hip joint of a human body by utilizing the motion characteristic of the parallelogram mechanism. Different from a common double-parallelogram mechanism, in order to facilitate the installation of a crown shaft motor, the invention simplifies one parallelogram and increases the degree of freedom of a vertical shaft at the same time, thereby ensuring that the total internal and external rotation movement axis is coincident with the internal and external rotation movement axis of the hip joint of a human body. Furthermore, the sagittal axis and the coronal axis are in the same horizontal plane and are intersected with the three distal total vertical axes at the same point, which is the center of the human hip joint. And a spring buffer module is further arranged on the adduction-abduction degree of freedom, so that the impact of the load on the exoskeleton in the movement process can be reduced.
(2) The assistance exoskeleton three-degree-of-freedom centering hip joint mechanism adopts a three-axis series arrangement form, is different from a common parallel three-degree-of-freedom mechanism, and can simplify the whole mechanical structure in a series manner, so that the mechanism is more compact, the problem of mechanism singularity possibly brought by the parallel structure is avoided, and the motion range of three degrees of freedom is expanded.
(3) In order to adapt to individual differences of different wearers, such as height, weight and the like, the three-degree-of-freedom centering hip joint mechanism for the power-assisted exoskeleton is characterized in that length adjusting parts are arranged at a waist part, a vertical shaft seat and a thigh part, wherein a waist cross beam is adjusted in three stages and is fixed by two pairs of bolts and nuts; the length of the vertical shaft seat is adjusted in a stepless manner, and a simple locking module is used for realizing fixation; the length of the thigh is adjusted in multiple stages and is fixed by a pair of bolts and nuts. The matching performance of the exoskeleton and the comfort of a wearer are ensured to the maximum extent through the mutual matching of the length adjustment of the three positions.
(4) According to the three-degree-of-freedom central hip joint mechanism for the power-assisted exoskeleton, according to gait data of human motion, in the advancing process of a human body, the motion amplitude, required torque and motion power of a hip joint in a sagittal plane are obviously greater than those of the hip joint in the other two planes, so that only a coronal axis is selected as active drive, the other axes are passive motion, and mechanical limit is performed through mechanism design. The design reduces the size and weight of the joint and the structure is more compact.
(5) The invention relates to a three-degree-of-freedom central hip joint mechanism of a power-assisted exoskeleton, which is a hip modular design and can be easily assembled and disassembled with a back frame module, a knee joint module and the like. Corresponding interfaces are reserved on the waist sliding cross beam and the thigh outer side plate so as to realize the further development of the whole exoskeleton.
Drawings
Fig. 1 is a schematic view of the overall structure of a three-degree-of-freedom centering hip joint mechanism of an assistance exoskeleton of the invention.
Fig. 2 is a schematic structural diagram of a waist adjustable component in the assistance exoskeleton three-degree-of-freedom centering hip joint mechanism.
Fig. 3 is a side view of a parallel four-bar linkage structure in the assistance exoskeleton three-degree-of-freedom centering hip joint mechanism.
Fig. 4 is a top view of a parallel four-bar linkage structure in the assistance exoskeleton three-degree-of-freedom centering hip joint mechanism.
Fig. 5 is a schematic structural diagram of a thigh adjustable part in the assistance exoskeleton three-degree-of-freedom centering hip joint mechanism.
FIG. 6 is a schematic side view of the overall structure of the assistance exoskeleton three-degree-of-freedom centering hip joint mechanism.
Fig. 7 is a structural schematic diagram of a locking mechanism in the assistance exoskeleton three-degree-of-freedom centering hip joint mechanism.
In the figure:
1-waist adjustable part 2-three-degree-of-freedom centering series part 3-thigh adjustable part
4-locking mechanism 101-back plate 102-waist sliding beam
103-lumbar cross beam 104-adduction abduction spring 105-spring end cap
106-spring compression slide block 107-positioning screw hole 108-adjusting screw hole
201-sagittal axis seat 202-vertical axis seat 203-sagittal axis
204-main horizontal rod 205-auxiliary horizontal rod 206-spring compression stop
207-coronal axis motor 208-free vertical axis 209-first principal vertical axis
210-first auxiliary vertical axis 211-second main vertical axis 212-second auxiliary vertical axis
213-semi-annular shaft seat 214-locking mechanism connecting rod 301-thigh outer side plate
302-thigh strap support 303-thigh plate adjusting screw hole 401-locking slider body
402-locking block 403-locking knob 404-locking port
405-runner 403 a-retraction block 403 b-locking bolt
403 c-knob 403 d-annular boss
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention discloses a three-degree-of-freedom centering hip joint mechanism for an assistance exoskeleton, which comprises a waist adjustable part 1, a three-degree-of-freedom centering serial part 2 and a thigh adjustable part 3, and is shown in figure 1.
The lumbar adjustable component includes a back plate 101, a lumbar sliding beam 102, a lumbar beam 103, an adduction-abduction spring 104, a spring end cover 105, and a spring compression slider 106, as shown in fig. 2. Waist crossbeam 103 level setting divide into waist crossbeam left part, waist crossbeam middle part and waist crossbeam right part. Wherein, the middle part of the waist beam is fixed at the rear part of the back plate 101 from the outer side through four groups of bolts; and a plurality of groups of positioning screw holes 107 are formed in the left part and the right part of the waist cross beam along the left-right direction. The waist sliding beam 102 is divided into a left sliding beam and a right sliding beam which are respectively connected with the left part and the right part of the waist beam in a sliding way; a plurality of groups of adjusting screw holes 108 are formed in the left sliding cross beam and the right sliding cross beam along the left-right direction, so that the left sliding cross beam and the right sliding cross beam are matched with the positioning screw holes through adjusting screw holes in different positions and are fixed through bolts to realize position adjustment of the left sliding cross beam and the right sliding cross beam on the waist cross beam 103. The lower parts of the left sliding beam and the right sliding beam are provided with cylindrical grooves, the inside-retracting and outward-expanding springs 104 and the spring compression sliding blocks 106 are nested and installed in the cylindrical grooves from inside to outside, and meanwhile, the groove openings of the cylindrical grooves are fixedly provided with spring end covers 105 through four groups of screws so as to limit the inside-retracting and outward-expanding springs 104 and the spring compression sliding blocks 106. The spring end cap 105 is provided with a through hole, so that the contact end of the spring compression slider 106 extends out of the through hole.
The three-degree-of-freedom centering series-connection components 2 are arranged in two sets and are respectively arranged at the outer ends of the left sliding cross beam and the right sliding cross beam in the same installation mode. The centering component 2 comprises a sagittal axis seat 201, a vertical axis seat 202, a sagittal axis 203, a main horizontal rod 204, an auxiliary horizontal rod 205, a spring compression stop 206, a coronal axis motor 207, a free vertical axis 208, and four vertical axes, wherein the four vertical axes are a first main vertical axis 209, a first auxiliary vertical axis 210, a second main vertical axis 211 and a second auxiliary vertical axis 212, as shown in fig. 3 and 4. The sagittal axis 203 passes through a connecting hole at the end of the waist sliding beam 102 and then is connected with the sagittal axis seat 201 to form a revolute pair. A spring compression stop 206 is arranged at the bottom of the sagittal shaft seat 201, and the contact end of the spring compression stop 206 and the spring compression block 106 is in contact action through the inward contraction and outward expansion spring 104. A first main vertical axis 209 and a first auxiliary vertical axis 210 are arranged on the sagittal shaft seat 201; one end of the main horizontal rod 204 and one end of the auxiliary horizontal rod 205 are respectively sleeved on the first main vertical shaft 209 and the first auxiliary vertical shaft 210; the other ends of the main horizontal rod 204 and the auxiliary horizontal rod 205 are respectively sleeved on the second main vertical shaft 211 and the second auxiliary vertical shaft 212. The second main vertical axis 211 and the second auxiliary vertical axis 212 are mounted on the vertical axis base 202. As shown in fig. 1 and 5, a semi-annular shaft seat 213 is arranged at the front end of the vertical shaft seat 202, the outer circumference of the machine body of the crown shaft motor 207 is coaxially arranged with the semi-annular shaft seat 213, and free vertical shafts 208 are arranged at two ends of the semi-annular shaft seat 213 through copper sleeves; the up-down relative positions of the body of the crown axis motor 207 are fixed to the free vertical axis 208, respectively. The crown shaft motor 207 is provided with a harmonic reducer for improving the output torque of the motor; an output shaft of the crown shaft motor 207 is provided with a thigh adjustable part 3. The four vertical shafts are connected at the center to form a parallelogram mechanism; meanwhile, the sagittal axis 203 and the waist sliding cross beam, the first main vertical axis 207, the first auxiliary vertical axis 208, the second main vertical axis 209, the second auxiliary vertical axis 210, the main horizontal rod 204 and the auxiliary horizontal rod 205 are connected through copper sleeves, and compared with a common bearing, the copper sleeves are smaller in size and higher in bearing strength.
The thigh adjustable part 3 comprises an outer thigh plate 301 and a thigh strap holder 302, as shown in fig. 5 and 6. The upper part of the thigh outer plate 301 is fixed on the output shaft of the crown shaft motor. The thigh strap bracket 302 is fixed with the adjusting screw hole 303 at the lower part of the thigh outer plate 301 by matching through a bolt. Similarly, a plurality of groups of adjusting holes are formed in the thigh outer plate 301 along the vertical direction, so that the upper and lower positions of the thigh bandage bracket 302 on the thigh outer plate 301 are adjusted through the matching between the bolts and the thigh plate adjusting screw holes 303.
The assistance exoskeleton three-degree-of-freedom centering hip joint mechanism with the structure comprises the following components in part by weight: the hip adduction-abduction passive motion is realized through a revolute pair formed between the centering component 2 and the waist sliding beam 102. The second degree of freedom is: the rotation axis of the five-axis combined motion is coincided with the internal and external rotation motion axis of the hip joint of the human body by a parallelogram mechanism formed in the centering component 2 and four vertical axes of the parallelogram and a free vertical axis 208 which are matched to synthesize a far-end vertical axis (the axis passes through the center of the hip joint of the human body) to rotate. The third degree of freedom is: active flexion and extension motion of the hip in the sagittal plane is provided by the coronal axis motor 207. The rotation central axes of the three degrees of freedom are intersected at one point, the point is the center of the hip joint of the human body, the human-computer joint centering is realized, the wearing comfort of the human body is ensured, the respective degrees of freedom can rotate in a certain range through mechanical limiting, and the wearing safety of the human body is ensured. In the adduction-abduction degree of freedom, the impact of the load on the exoskeleton in the movement process can be reduced through the matching of the adduction-abduction spring 104 and the spring compression slide block 106 with the centering part 2. The back plate 101 and the thigh bandage bracket 302 are both provided with a bandage slot hole, wherein the back plate 101 is connected with the waist of the human body through a bandage, and the thigh bandage bracket 302 is connected with the left thigh and the right thigh of the human body through a bandage. The mechanism is a modular design of the exoskeleton hip, and the complete function of the exoskeleton is realized by connecting the exoskeleton knee module and the ankle module.
In order to adapt to the difference of body sizes of different wearers, a locking mechanism is designed between the free vertical shaft 208 and the parallel four-bar linkage mechanism formed by the other four vertical shafts, and the locking mechanisms 4 are connected in series, and the specific mode is as follows:
a locking mechanism connecting rod 214 with a horizontally arranged rectangular cross section is designed at the front end of the vertical shaft seat 202 and is used for connecting a locking mechanism 4; while the semi-toroidal shaft seat 213 is designed as one piece with the locking mechanism 4. The opening 404 is sleeved on the locking mechanism connecting rod 214, and the front end of the locking slider main body 401 is designed with a semi-annular shaft seat 213. A locking block 402 is arranged in the locking slider body 401, and one side of the locking block 402 is a locking surface; after the locking slider body 401 is inserted, the locking block 402 is attached to the side surface of the locking mechanism connecting rod 214. The other side of the locking block 402 is a locking mating surface, which is an inclined surface, for mating with the locking knob 403.
The locking knob 403 includes a retraction block 403a, a locking bolt 403b and a knob 403 c. Wherein, the locking bolt 403b is sleeved with a retraction block 403a, and the retraction block 403a is disposed in the sliding groove 405 of the locking slider body 401, and the retraction block 403a is positioned in the sliding groove 405 and can slide along the sliding groove 405 by the sliding platform designed on both sides and the sliding way designed on both sides of the sliding groove 405 in a matching and sliding connection. The front end of the locking bolt 403b is in threaded connection with a threaded channel 406 formed in the locking slider body 401, and the tail end is provided with a knob 403 c. The side of the retraction block 403a is an inclined surface, which is matched and attached to the locking mating surface of the locking block 402. The locking bolt 403b is circumferentially designed with a ring-shaped boss 403d, and the boss 403d is engaged with the retraction block 403a, and the knob 403c is engaged with the end of the retraction block 403a, so as to position the retraction block 403a on the locking bolt 403 b. Therefore, the knob 403c is rotated to drive the locking bolt 403b to rotate, the knob can push the retraction block 403a to move along the sliding groove 405, so that the retraction block 403a applies a pushing force to the locking block 402 to push the locking block 402 to move, and finally the locking block 402 presses the locking mechanism connecting rod 214, thereby fixing the locking mechanism 4 and the locking mechanism connecting rod 214. When the locking bolt 403b is rotated reversely, the boss 403d can move the retraction block 403a reversely, and finally the locking between the locking knob 403 and the locking mechanism connecting rod 214 is unlocked.
Claims (7)
1. A three-degree-of-freedom force-assisting exoskeleton centering hip joint mechanism is characterized in that: the device comprises a waist adjustable part, a three-degree-of-freedom centering series part and a thigh adjustable part;
the waist adjustable part is provided with a waist cross beam and waist sliding cross beams arranged on two sides of the waist cross beam;
the two sets of three-degree-of-freedom centering series components are respectively arranged on the waist sliding cross beams at two sides of the waist cross beam; the three-degree-of-freedom centering series component comprises a sagittal shaft seat, a vertical shaft seat, a sagittal shaft, a main horizontal rod, an auxiliary horizontal rod, four vertical shafts and a free vertical shaft; the four vertical shafts are respectively a first main vertical shaft, a first auxiliary vertical shaft, a second main vertical shaft and a second auxiliary vertical shaft; wherein, the sagittal axis passes through the connecting hole at the end of the waist sliding beam and then is connected with the sagittal axis seat to form a revolute pair; a first main vertical shaft and a first auxiliary vertical shaft are arranged on the sagittal shaft seat; one end of the main horizontal rod and one end of the auxiliary horizontal rod are respectively sleeved on the first main vertical shaft and the first auxiliary vertical shaft; the other ends of the main horizontal rod and the auxiliary horizontal rod are respectively sleeved on the second main vertical shaft and the second auxiliary vertical shaft; the second main vertical shaft and the second auxiliary vertical shaft are arranged on the vertical shaft seat; the four vertical axis center connecting lines form a parallelogram mechanism; a semi-annular connecting piece is designed at the front end of the vertical shaft seat, and the upper end and the lower end of the vertical shaft seat are connected with a crown shaft motor through free vertical shafts;
the three-degree-of-freedom centering series component has three degrees of freedom, and the first degree of freedom is as follows: the hip adduction-abduction passive motion is realized through a revolute pair formed between the three-degree-of-freedom centering series component and the waist sliding beam; the second degree of freedom is: the rotation axis of the five-axis synthetic motion is coincided with the internal and external rotation motion axis of the hip joint of the human body; the third degree of freedom is: providing active flexion and extension movement of the hip in a sagittal plane by a coronal axis motor; the rotating central axes of the three degrees of freedom are converged at one point, namely the center of the hip joint of the human body;
the thigh adjustable part comprises a thigh outer side plate and a thigh bandage bracket; the upper part of the thigh outer side plate is fixed on the output shaft of the crown shaft motor; the thigh bandage bracket is fixed with the lower part of the thigh outer side plate through a bolt.
2. The three-degree-of-freedom power-assisted exoskeleton center to center hip joint mechanism as claimed in claim 1, wherein: the position of the waist sliding beam on the waist beam is adjustable; the distance between the vertical shaft seat and the thigh plate is adjustable; the upper and lower positions of the thigh outer side plate are adjustable.
3. The three-degree-of-freedom power-assisted exoskeleton center to center hip joint mechanism as claimed in claim 1, wherein: an inward-contraction outward-expansion spring and a spring compression sliding block are arranged in the waist sliding beam; meanwhile, a spring compression stop block is installed at the bottom of the sagittal shaft seat, and the contact end of the spring compression stop block and the spring compression block is contacted through the action of an inward-folded outward-unfolded spring.
4. The three-degree-of-freedom power-assisted exoskeleton center to center hip joint mechanism as claimed in claim 1, wherein: a locking mechanism is designed, and meanwhile, the semi-annular connecting piece is designed on the locking mechanism; the locking mechanism is sleeved on a locking mechanism connecting rod designed on the vertical shaft seat, and the position of the locking mechanism connecting rod is adjustable.
5. The power-assisted exoskeleton three-degree-of-freedom central hip joint mechanism as claimed in claim 4, wherein: the locking mechanism comprises a locking slide block main body, a locking block and a locking knob; the locking slide block main body is provided with a locking opening matched with the section of the locking mechanism connecting rod, and the locking opening is sleeved on the locking mechanism connecting rod; a locking block is arranged in the locking slide block main body, and one side of the locking block is a locking surface; after the locking slide block main body is inserted, the locking block is attached to the side face of the locking mechanism connecting rod; the other side of the locking block is a locking matching inclined plane which is used for matching with the locking knob; the locking knob is provided with a locking bolt and a retraction block; the retraction block is driven by the locking bolt to move in the sliding groove on the locking sliding block main body; the side surface of the indentation block is an inclined surface which is matched and attached to the locking matching surface on the locking block.
6. The three-degree-of-freedom power-assisted exoskeleton center to center hip joint mechanism as claimed in claim 1, wherein: the whole body adopts a modular design, and the assembly and the disassembly with the knee module and the back frame are convenient.
7. The three-degree-of-freedom power-assisted exoskeleton center to center hip joint mechanism as claimed in claim 1, wherein: the motor with the crown shaft is used for driving, and the other shafts are in passive motion and are provided with mechanical limit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910735145.9A CN110539289B (en) | 2019-08-09 | 2019-08-09 | Three-degree-of-freedom centering hip joint mechanism of power-assisted exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910735145.9A CN110539289B (en) | 2019-08-09 | 2019-08-09 | Three-degree-of-freedom centering hip joint mechanism of power-assisted exoskeleton |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110539289A CN110539289A (en) | 2019-12-06 |
| CN110539289B true CN110539289B (en) | 2022-09-16 |
Family
ID=68710184
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910735145.9A Active CN110539289B (en) | 2019-08-09 | 2019-08-09 | Three-degree-of-freedom centering hip joint mechanism of power-assisted exoskeleton |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110539289B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111168648B (en) * | 2020-01-08 | 2021-03-12 | 合肥工业大学 | Four-degree-of-freedom hip joint exoskeleton walking-aid robot based on flexible driving |
| CN113183130B (en) * | 2021-04-23 | 2023-07-18 | 中国科学院深圳先进技术研究院 | Bionic triaxial intersection type exoskeleton robot hip joint |
| CN116118894A (en) * | 2021-11-15 | 2023-05-16 | 腾讯科技（深圳）有限公司 | Hip joint assembly and robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20150134770A (en) * | 2014-05-23 | 2015-12-02 | 삼성전자주식회사 | Walking assist apparatus |
| KR101589679B1 (en) * | 2015-05-15 | 2016-01-28 | 엘아이지넥스원 주식회사 | Back joint apparatus and wearable robot having the same |
| CN106926220A (en) * | 2017-02-28 | 2017-07-07 | 北京航空航天大学 | A kind of wearable power assistive device of human hip for possessing the rotation of RCM Three Degree Of Freedoms |
| WO2017158411A1 (en) * | 2016-03-17 | 2017-09-21 | Uab "Vildoma" | Rehabilitative walker |
| CN107223044A (en) * | 2015-02-09 | 2017-09-29 | 圣安娜高等学校 | Hip joint KAFO drive system |
| CN107320286A (en) * | 2017-08-09 | 2017-11-07 | 北京航空航天大学 | It is a kind of can elastic compensating axis shift knee joint exoskeleton device |
| CN108312127A (en) * | 2017-01-18 | 2018-07-24 | 南京拓步智能科技有限公司 | A kind of linkage controlled suitable for humanoid robot joint freedom degrees with limitation |
-
2019
- 2019-08-09 CN CN201910735145.9A patent/CN110539289B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20150134770A (en) * | 2014-05-23 | 2015-12-02 | 삼성전자주식회사 | Walking assist apparatus |
| CN107223044A (en) * | 2015-02-09 | 2017-09-29 | 圣安娜高等学校 | Hip joint KAFO drive system |
| KR101589679B1 (en) * | 2015-05-15 | 2016-01-28 | 엘아이지넥스원 주식회사 | Back joint apparatus and wearable robot having the same |
| WO2017158411A1 (en) * | 2016-03-17 | 2017-09-21 | Uab "Vildoma" | Rehabilitative walker |
| CN108312127A (en) * | 2017-01-18 | 2018-07-24 | 南京拓步智能科技有限公司 | A kind of linkage controlled suitable for humanoid robot joint freedom degrees with limitation |
| CN106926220A (en) * | 2017-02-28 | 2017-07-07 | 北京航空航天大学 | A kind of wearable power assistive device of human hip for possessing the rotation of RCM Three Degree Of Freedoms |
| CN107320286A (en) * | 2017-08-09 | 2017-11-07 | 北京航空航天大学 | It is a kind of can elastic compensating axis shift knee joint exoskeleton device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110539289A (en) | 2019-12-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110539289B (en) | Three-degree-of-freedom centering hip joint mechanism of power-assisted exoskeleton | |
| CN109223456B (en) | Lower limb exoskeleton robot system based on man-machine terminal interaction | |
| CN106924013B (en) | Exoskeleton type upper limb rehabilitation training robot | |
| Liu et al. | Development of a lower extremity exoskeleton for human performance enhancement | |
| EP2150175B1 (en) | Robotic exoskeleton for limb movement | |
| Zeiaee et al. | Design and kinematic analysis of a novel upper limb exoskeleton for rehabilitation of stroke patients | |
| JP2592340B2 (en) | Joint structure of a legged walking robot | |
| CN109176597B (en) | Exoskeleton powered knee joint structure | |
| CN104071250A (en) | Modular ten-freedom-degree biped walking robot | |
| CN112643651B (en) | Telescopic bionic outer limb mechanical arm | |
| CN110842896A (en) | Wearable waist assistance exoskeleton mechanism and control method thereof | |
| CN113440372B (en) | Flexibly-driven knee joint exoskeleton | |
| CN113084862B (en) | Exoskeleton robot ankle joint with three flexible driving branches | |
| CN112060056A (en) | Exoskeleton robot with motors and exoskeleton lower limb gravity centers collinear and control method | |
| WO2019173751A1 (en) | Exoskeleton device with improved actuation system | |
| WO2020101511A1 (en) | Device for upper limb rehabilitation | |
| CN109262594B (en) | Power-assisted exoskeleton hip joint structure | |
| KR20170047779A (en) | Adjustble conterbalncing unit and adjustable counberbalance exoskeleton for arm strength assitance | |
| Tahmasebi et al. | Jacobian and stiffness analysis of a novel class of six-DOF parallel minimanipulators | |
| Guo et al. | Kinematic and kinetic analysis of 3-RPR based robotic lumbar brace | |
| Su et al. | Design of a lightweight forearm exoskeleton for fine-motion rehabilitation | |
| CN106863277A (en) | A kind of pneumatic muscles upper limbs assistance exoskeleton system | |
| Chien et al. | Design of an adaptive exoskeleton for safe robotic shoulder rehabilitation | |
| CN214352437U (en) | Multi-degree-of-freedom hip joint mechanism of lower limb exoskeleton robot | |
| Tang et al. | Structural design of a novel wearable knee exoskeleton |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |