CN110900569A - Rigid-flexible mixed exoskeleton - Google Patents
Rigid-flexible mixed exoskeleton Download PDFInfo
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- CN110900569A CN110900569A CN201911224499.3A CN201911224499A CN110900569A CN 110900569 A CN110900569 A CN 110900569A CN 201911224499 A CN201911224499 A CN 201911224499A CN 110900569 A CN110900569 A CN 110900569A
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- 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
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Abstract
The present invention provides a rigid-flexible hybrid exoskeleton comprising: the device comprises a back support module, a suspension back frame module, a hip joint, a driving module, a leg part, a flexible knee joint and an ankle joint module; the suspension back frame module is connected with the hip joint through the back support module, the driving module is connected with one end of the hip joint, the leg comprises a thigh rod and a shank rod, one end of the thigh rod is connected with the other end of the hip joint, one end of the thigh rod is connected with one end of the shank rod through the flexible knee joint, and the other end of the shank rod is connected with the ankle joint module. The rigid-flexible hybrid exoskeleton is provided with the flexible knee joint, can bend along with the action of a human body, can be worn on the bodies of users with different body shapes in a fitting manner, and improves the wearing comfort. Meanwhile, the rigid-flexible hybrid exoskeleton can provide reliable support and assistance, and has the advantages of simple structure and light weight.
Description
Technical Field
The invention relates to the technical field of wearing, in particular to a rigid-flexible hybrid exoskeleton.
Background
The exoskeleton robot technology is a comprehensive technology which integrates sensing, control, information, fusion and mobile computing and provides a wearable mechanical mechanism for a person as an operator. The exoskeleton robot is used for providing assistance to a human body, has a prominent development prospect in the aspects of enhancing human body skills and assisting movement, and increasingly becomes a research focus in the field of robots. However, the knee joint of the existing exoskeleton robot cannot be matched with the knee joint of the human body when the knee joint is bent, so that the exoskeleton leg and the human body leg are dislocated when the knee joint is bent. Therefore, it is necessary to provide a further solution to the above problems.
Disclosure of Invention
The invention aims to provide a rigid-flexible hybrid exoskeleton so as to overcome the defects in the prior art.
To achieve the above object, the present invention provides a rigid-flexible hybrid exoskeleton comprising: the device comprises a back support module, a suspension back frame module, a hip joint, a driving module, a leg part, a flexible knee joint and an ankle joint module;
the suspension back frame module is connected with the hip joint through the back support module, the driving module is connected with one end of the hip joint, the leg comprises a thigh rod and a shank rod, one end of the thigh rod is connected with the other end of the hip joint, one end of the thigh rod is connected with one end of the shank rod through the flexible knee joint, and the other end of the shank rod is connected with the ankle joint module.
As an improvement of the rigid-flexible hybrid exoskeleton of the present invention, the flexible knee joint comprises: the ankle joint comprises a thigh rod connecting piece, at least one intermediate connecting piece and a shank rod connecting piece, wherein the thigh rod connecting piece is connected with the other end of the thigh rod, the thigh rod connecting piece is connected with the intermediate connecting piece through a positioning pin, the intermediate connecting piece is connected with the shank rod connecting piece through a positioning pin, the shank rod connecting piece is connected with one end of the shank rod, when the intermediate connecting pieces are multiple, adjacent intermediate connecting pieces are connected through a positioning pin, a sliding groove suitable for the flexible knee joint to slide is formed in each connecting piece, and the other end of the shank rod is connected with an ankle joint module.
As an improvement of the rigid-flexible hybrid exoskeleton, any connecting piece is provided with an upper concave surface and a lower convex surface, adjacent connecting pieces are meshed through the upper concave surface and the lower convex surface, and the corresponding diameters of the upper concave surface and the lower convex surface are kept consistent.
As an improvement of the rigid-flexible hybrid exoskeleton of the present invention, the flexible knee joint further comprises: the tension sensor is connected with the shank rod, one end of the steel rope plug is connected with a steel rope, and the other end of the steel rope plug is connected with the tension sensor.
As an improvement to the rigid-flexible hybrid exoskeleton of the present invention, the back support module comprises: the back support is pivotally connected with one end of the connecting rod, and the hip connecting piece is pivotally connected with the other end of the connecting rod.
As an improvement of the rigid-flexible hybrid exoskeleton of the present invention, the rigid-flexible hybrid exoskeleton further comprises: the integrated waist pad comprises a waist pad and a waist pad connecting plate, wherein the waist pad is connected with a binding interface of the waist pad connecting plate, the waist pad connecting plate is connected with the hip connecting piece, and a connecting belt of the waist pad is connected with the hip joint.
As an improvement of the rigid-flexible hybrid exoskeleton of the present invention, the suspended back frame module comprises: the spring fixing device comprises a back frame, a cross beam, an upper sliding rod fixing block, a sliding rail, a spring cap and a lower sliding rod fixing block, wherein the cross beam is fixed on the back frame, the sliding block is fixed on the cross beam, the upper sliding rod fixing block is connected with the sliding rod fixing block through the sliding rail, the sliding block is fixed at the upper end of the sliding rail, the spring is sleeved on the sliding rail, and two ends of the spring are abutted to the spring cap sleeved on the sliding rail.
As an improvement of the rigid-flexible hybrid exoskeleton of the present invention, the hip joint comprises: the waist rod, the hip upper connecting rod, the hip middle connecting rod, the hip lower connecting rod and the thigh rod are connected in a switching way;
the hip middle connecting rod is connected with the back supporting module through the waist rod, the hip upper connecting rod is in pivot connection with the hip middle connecting rod, the hip middle connecting rod is in pivot connection with the hip lower connecting rod, a rotation axis between the hip upper connecting rod and the hip middle connecting rod is perpendicular to a rotation axis between the hip middle connecting rod and the hip lower connecting rod, and the hip lower connecting rod is in switching pivot connection with the thigh rod.
As an improvement of the rigid-flexible hybrid exoskeleton of the present invention, the drive module comprises: driving motor, reel, motor frame, reel dustcoat, battery frame, interior inferior shell and shell, driving motor is connected with motor frame and reel screw thread, the motor frame is connected with the battery frame, the battery frame ties up fixed connection with the battery frame through tying up, inboard shell wraps up with the shell after closing motor frame and battery compartment, and both ends insert in the reel dustcoat to through the screw fixation motor frame and reel dustcoat.
As an improvement of the rigid-flexible hybrid exoskeleton of the present invention, the thigh bar comprises: outer leg pole, inner leg pole, general tie up and tie up board, thigh and tie up board and adjustment mechanism, outer leg pole pass through adjustment mechanism with inner leg pole is connected, inner leg pole with the thigh connection piece is connected, general tie up board, thigh tie up set up in on the outer leg pole at an interval.
As an improvement of the rigid-flexible hybrid exoskeleton of the present invention, the shank rod comprises: the leg binding device comprises an outer leg rod, a general binding plate, an under-knee switching plate, a shank binding plate and an adjusting mechanism, wherein one end of the outer leg rod is connected with the under-knee switching plate, the other end of the outer leg rod is connected with the adjusting mechanism, and the general binding plate and the shank binding plate are arranged on the outer leg rod at intervals.
As an improvement of the rigid-flexible hybrid exoskeleton of the present invention, the ankle module comprises: shank connecting rod, cushion block, disc spring, rotary shaft, oilless bush, end cover, sole support, turning connecting piece, sole;
the shank connecting rod is connected with the shank rod, the rotating shaft penetrates through the disc spring and the cushion block and is pivotally inserted into a cylindrical cavity of the shank connecting rod, the outer side of the oilless bushing is matched with the end cover, the inner side of the oilless bushing is matched with the rotating shaft, the end cover is in threaded connection with the shank connecting rod, the rotating shaft is in pin connection with the turnover connecting piece, the rotating shaft can rotate relative to the turnover connecting piece, the sole is supported and is in pin connection with the turnover connecting piece, the sole is supported and is pivotally connected with the turnover connecting piece, and the sole is supported and is in threaded connection with a rear heel.
Compared with the prior art, the invention has the beneficial effects that: the rigid-flexible hybrid exoskeleton is provided with the flexible knee joint, can bend along with the action of a human body, can be worn on the bodies of users with different body shapes in a fitting manner, and improves the wearing comfort. Meanwhile, the rigid-flexible hybrid exoskeleton can provide reliable support and assistance, and has the advantages of simple structure and light weight.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a perspective view of one embodiment of the rigid-flexible hybrid exoskeleton of the present invention;
FIG. 2 is an enlarged perspective view of the back support module of FIG. 1;
FIG. 3 is an enlarged perspective view of the integrated harness of FIG. 1;
FIG. 4 is an enlarged perspective view of the integrated lumbar pad of FIG. 1;
FIG. 5 is an exploded perspective view of the suspension back frame module of FIG. 1;
FIG. 6 is an exploded perspective view of the upper slide bar mounting block of FIG. 5;
FIG. 7 is an exploded perspective view of the lower slide bar mounting block of FIG. 5;
FIG. 8 is an exploded perspective view of the hip joint of FIG. 1;
FIG. 9 is an exploded view of the drive module of FIG. 1;
FIG. 10 is an exploded perspective view of the thigh bar of FIG. 1;
FIG. 11 is an exploded perspective view of the lower leg shaft of FIG. 1;
FIG. 12 is an exploded perspective view of the adjustment mechanism of FIGS. 10 and 11;
FIG. 13 is an exploded perspective view of the flexible knee joint of FIG. 1;
FIG. 14 is a perspective view of the flexible knee joint of FIG. 1 in flexion;
FIG. 15 is an exploded perspective view of the ankle joint of FIG. 1;
FIG. 16 is a perspective view of an embodiment of the rigid-flexible hybrid exoskeleton of the present invention;
fig. 17 is a perspective view of an embodiment of the rigid-flexible hybrid exoskeleton of the present invention.
Detailed Description
The present invention is described in detail below with reference to various embodiments, but it should be understood that these embodiments are not intended to limit the present invention, and those skilled in the art should be able to make modifications and substitutions on the functions, methods, or structures of these embodiments without departing from the scope of the present invention.
As shown in fig. 1, the rigid-flexible hybrid exoskeleton of the present embodiment comprises: a back support module 1, a suspended back frame module 12, a hip joint 2, a drive module 22, a leg 3, a flexible knee joint 4 and an ankle joint module 5.
The back support 1 is connected to a hip joint 2. The suspension back frame module 12 is fixed with the back support device 1 and can be disassembled and assembled according to the requirements of users. The integrated back strap 13 is fixed to the back support device 1. The integrated lumbar pad 4 is fixed with the back support device 1 and the hip joint 2. The drive module 22 is connected to the hip joint 2 and can be attached and detached as required by the user. The leg 3 is connected to the hip joint 2. The leg 3 is fixed to the knee joint 4. The ankle joint 5 is fixed to the leg 3. The rigid-flexible hybrid exoskeleton of this embodiment can be actively driven by installing the driving module 22 or passively driven by installing the elastic element according to the requirements of the user.
As shown in fig. 2, the back support module 1 includes: back support 111, connecting rod 112, hip joint 113, threaded pin 114. The back support 111 and the connecting rod 112 are connected through a hinge pin, and the back support 111 and the connecting rod 112 can rotate relatively to adapt to the bending action of the human body. The connecting rod 112 is fixed to the hip joint 113 by a hinge pin. The threaded pin 114 is used to secure the lumbar rod 211.
As shown in fig. 3 and 4, the rigid-flexible hybrid exoskeleton further comprises: an integrated back belt 13 and an integrated lumbar pad 14.
Wherein, integration braces 13 includes: a back strap 131, a connecting plate 132, a pressing sheet 133 and a back cushion 134. The strap 131 is secured to the backrest 134 and the strap end 1312 is secured to the cinching interface 1132 of the hip connector 113. The back pad 134 is fixed to the binding interface 1323 of the connecting plate 132. The screw boss 1322 of the connecting plate 132 is inserted into the through hole of the back support 111 at one side, and the connecting plate is screw-fixed to the screw boss 1322 at the other side of the back support 111.
The integrated lumbar pad 14 includes: a waist pad 141 and a waist pad connecting plate 142. The integrated lumbar pad 141 is fixed to the binding interface 1421 of the lumbar pad connection plate 142. The lumbar pad connecting plate 142 is screwed with the hip joint member 113. The connecting band 1412 of the lumbar pad 141 is fixed with the boss 2122 of the hip upper connecting rod 212.
As shown in fig. 5 to 7, the floating back frame module 12 includes: the device comprises a back frame 121, a cross beam 122, a shell 123, an upper sliding rod fixing block 124, a sliding block 125, a sliding rail 126, a spring 127, a spring cap 128 and a lower sliding rod fixing block 129.
The upper slide rod fixing block 124 comprises an upper center rod 1241, an upper fixing block left 1242 and an upper fixing block right 1243, wherein the upper center rod 1241 is glued and fixed with the upper fixing block left 1242 and the upper fixing block right 1243. The lower slide bar fixing block 129 comprises a lower central rod 1291, a lower fixing block left 1292, a lower fixing block right 1293, a pulley 1294 and an isolation column 1295, wherein the lower central rod 1291, the lower fixing block left 1292 and the lower fixing block right 1293 are glued and fixed, the pulley 1294 and the lower central rod 1291 are fixed by a plug screw, and the isolation column 1295 is used for preventing the pulleys 1294 from colliding with each other. The pulley 1294 is in contact with the back frame 121, and the back frame 121 can slide on the slider 1294. The cross member 122 is inserted into the back frame 121 and is fixed by a screw. The slider 125 is inserted into the cross member 122 and fixed by a screw. One end of the sliding rod 126 is fixed with the upper sliding rod fixing block 124 in a threaded manner, and the other end of the sliding rod 126 is fixed with the lower sliding rod fixing block 129 in a threaded manner. The shell 123 is fixed with the upper sliding rod fixing block 124 and the lower sliding rod fixing block 129 in a threaded mode, the sliding rod 126 and the upper sliding rod fixing block 124 are screwed, and the lower sliding rod fixing block 129 and the shell 123 form a sliding frame together. The spring caps 128 are mounted on both ends of the spring 127 to constitute an elastic member. The slider 125 and the elastic member are inserted with a slide bar 126. The slider 125 is close to the upper slide rod fixing block 124, and the elastic element has one end with a spring cap 128 adjacent to the slider 125 and the other end with a spring cap 128 contacting with the lower slide rod fixing block 129. The floating back frame 12 is screwed with the fixing groove 1113 of the back support 111 through the upper center pole and the lower center pole 1291 of the rod 1241. The housing 123 of the floating back frame 12 is inserted into the mounting groove 1112 of the back support 111 in a protruding manner.
As shown in fig. 8, the hip joint 2 includes: a lumbar rod 211, a hip upper connecting rod 212, a hip middle connecting rod 213, a hip lower connecting rod 214, a greater trochanter end cap 215, and a thigh rod adaptor 216.
The lumbar rod 211 is fixed by the threaded pin 114 after inserting the hip joint 113 and the hip upper joint rod 212. The hip upper connecting rod 212 and the hip middle connecting rod 213 are connected through a hinge pin, and the hip upper connecting rod 212 and the hip middle connecting rod 213 can rotate relatively. The hip middle connecting rod 213 is inserted into the hip lower connecting rod 214 and then connected by screw threads, and the hip middle connecting rod 213 and the hip lower connecting rod 214 can rotate relatively. The lower hip connecting rod 214 and the upper leg connecting rod 216 are connected through a pin, and the lower hip connecting rod 214 and the lower leg connecting rod 216 can rotate relatively. The greater trochanter end cap 215 is threaded onto the lower hip connecting rod 214 to prevent the pin from coming out of motion.
As shown in fig. 9, the driving module 22 includes: a driving motor 221, a winding reel 222, a motor frame 223, a winding reel outer cover 224, an inner casing 225, a battery frame 226, and a casing 227.
The driving motor 221 is fixed with the motor frame 223 and the winding reel 222 by screw threads. The motor frame 223 is fixed with the battery frame 226 through screw threads. The battery frame 226 is fixed with the battery frame through binding and fixed with the main control board through threads. The inner side shell 225 and the inner side shell 227 are folded to wrap the motor frame 223 and the battery bin 226, two ends of the inner side shell are inserted into the winding reel outer cover 224, and the motor frame 223 and the winding reel outer cover 224 are fixed through screws. The motor mount 223 may be inserted into the waist bar 211.
As shown in fig. 10 to 12, the leg portion 3 includes a thigh bar and a shank. One end of the thigh rod is connected with the other end of the hip joint, one end of the thigh rod is connected with one end of the shank rod through the flexible knee joint 4, and the other end of the shank rod is connected with the ankle joint model. With the arrangement, the rigid-flexible hybrid exoskeleton is provided with the flexible knee joint, can be bent along with the action of a human body, can be worn on the bodies of users with different body shapes in a fitting manner, and improves the wearing comfort.
The thigh lever includes: an outer leg rod 31, an inner leg rod 36, a general binding plate 33, a thigh binding plate 34, and an adjusting mechanism 39. The outer leg rod 31 is connected with the inner leg rod 36 through an adjusting mechanism 39, the inner leg rod 36 is connected with the thigh connecting sheet of the flexible knee joint 4, and the general binding plate 33 and the thigh binding plate 34 are arranged on the outer leg rod 31 at intervals.
Specifically, the adjustment mechanism 39 includes: handle 391, spring 392, adjustment pole 393, adjustment barrel 394. The spring 392 is placed in the adjustment barrel 394. The adjustment lever 393 is inserted into the adjustment cylinder 394 and compresses the spring 392. The adjustment rod 393 is threadably secured to the handle 391. The adjustment mechanism 39 is threadedly coupled to the outer leg rod 31. The C-shaped anchor points 32 are glued to the outer leg rods 31. The anchor point 35 is screw-fastened to the thigh strap 34 and the calf strap 38. The outer leg rod 31 and the thigh rod adapter 216, the universal binding plate 33 and the thigh binding plate 34 are fixed in a threaded manner to form the thigh rod. The outer contour of the inner leg rod 36 is trapezoidal and can be movably matched with the dovetail groove of the outer leg rod 31. The inner leg bar 36 and the outer leg bar 31 are fixed by an adjusting bar 393 of the adjusting mechanism 39. The inner leg rod 36 is screwed to the thigh link 41 of the knee joint 4.
The shank rod includes: an outer leg rod 31, a universal binding plate 33, a below-knee adapter 37, a lower leg binding plate 38, and an adjustment mechanism 39. The outer leg rod 31 has one end connected to the below-knee joint 37 and the other end connected to the adjusting mechanism 39, and the universal binding plate 33 and the lower leg binding plate 38 are provided on the outer leg rod 31 at intervals.
Specifically, the adjustment mechanism 39 includes: handle 391, spring 392, adjustment pole 393, adjustment barrel 394. The spring 392 is placed in the adjustment barrel 394. The adjustment lever 393 is inserted into the adjustment cylinder 394 and compresses the spring 392. The adjustment rod 393 is threadably secured to the handle 391. The adjustment mechanism 39 is threadedly coupled to the outer leg rod 31. The outer leg rod 31, the universal binding plate 33, the below-knee adapter 37 and the lower leg binding plate 38 are fixed by screw threads to form a lower leg rod. The below-knee joint 37 is inserted into the shank connecting piece 43 of the knee joint 4 and then fixed by screw thread. The universal tie plates 33 may be connected by screw-mounting gusset plates. The binding plates 33, 34 and 38 of the leg 3 are fixed to the leg of the human body by binding bands.
As shown in fig. 13 and 14, the flexible knee joint 4 includes: thigh connecting piece 41, middle connecting piece 42, shank connecting piece 43, tension sensor 44, cable plug 45, cable pulley 46, locating pin 47 and limiting piece 48.
The thigh connecting piece 41 and the middle connecting piece 42 are connected through a positioning pin 47 and a sliding slot 411. The intermediate connection pieces 42 are connected to each other by means of positioning pins 47 and sliding slots 411. The shank leg connecting piece 43 is connected with the middle connecting piece 42 through a positioning pin 47 and a sliding groove 411. The knee joint 4 may be connected to one or more intermediate connection pieces 42, a thigh connection piece 41 and a shank connection piece 43. When the knee joint 4 is bent, the lower convex surfaces 412 of the connecting pieces 41-42 are meshed with the upper concave surfaces 415, the lower concave surfaces 413 are meshed with the upper convex surfaces 414, and the positioning pins 47 slide in the sliding grooves 411 to realize the relative rotation among the connecting pieces 41-42. The lower convex surface 412 is engaged with the upper concave surface 415, the horizontal degree of freedom of the knee joint 4 is limited when the lower convex surface 413 is engaged with the upper convex surface 414, namely, the knee joint cannot move to the horizontal direction, and the upper convex surface, the lower convex surface and the upper concave surface are formed by continuously tangently connecting semicircles with the same diameter, if the radiuses are different, the function of limiting the degree of freedom in the horizontal direction is not provided, and if the shape is smaller than the semicircles or is not tangent, the upper convex surface and the lower convex. The knee joint 4 is in a bending state, the lower convex surface 412 is meshed with the upper concave surface 415, the lower concave surface 413 is meshed with the upper convex surface 414, the convex surface and the concave surface are meshed with each other when the knee joint rotates, so that the phenomenon that the positioning pin 47 slides in the sliding groove 411 and is blocked is avoided, meanwhile, when the knee joint bears large torque, relative displacement caused by sliding between connecting sheets is avoided, the sliding groove 411 further has a limiting function, and when the knee joint rotates to a limit angle, the positioning pin 47 is clamped at the tail end of the sliding groove 411. The radius of curvature R1 for the circles of the lower convex surface 412 and the lower concave surface 413 is equal to the radius of curvature R2 for the circles of the upper convex surface 414 and the upper concave surface 415. The steel rope pulley 46 is in pin connection with the connecting pieces 41-43. The limiting piece 48 and the connecting pieces 41-43 are fixed through threads. The tension sensor 44 is screwed with the shank connecting piece 43. One end of the steel rope plug 45 is fixed with the steel rope, and the other end of the steel rope plug is in threaded connection with the tension sensor 44.
As shown in fig. 15, the ankle joint 5 includes: shank link 511, heel block 512, disc spring 513, rotating shaft 514, oilless bushing 515, end cap 516, sole support 517, flip link 518, sole 52.
The outer contour of the shank connecting rod 511 is trapezoidal and can be movably matched with the dovetail groove of the outer shank rod 31. The shank link 511 and the outer leg link 31 are fixed by an adjusting lever 393 of the adjusting mechanism 39. The rotating shaft 514 passes through the disc spring 513 and the cushion block 512 and is arranged in the cylindrical cavity of the lower leg connecting rod 511, the outer side of the oilless bushing 515 is matched with the end cover 516, the inner side of the oilless bushing is matched with the rotating shaft 514, the end cover 516 is fixed with the lower leg connecting rod 511 through threads, and when the lower leg connecting rod 511 or the rotating shaft 514 bears load impact, the disc spring 513 is compressed, so that the influence of the load impact on the system is reduced. The rotating shaft 514 and the lower leg connecting rod 511 can rotate relatively. The rotating shaft 514 is pinned to the flip link 518, and the rotating shaft 514 and the flip link 518 are rotatable relative to each other. The flip link 518 is equipped with an absolute encoder that provides a real-time angle of the ankle joint. The sole support 517 is pinned to the flip link 518, and the sole support 517 and the flip link 518 may rotate relative to each other. The sole support 517 is threadedly secured to the rear heel 522 of the sole 52. The sole 52 comprises a front sole 521, a rear sole 522, a pressure sensor 523, a shoe pad 524, a sole 525 and an elastic connecting piece 526. The elastic connecting piece thread 526 is screwed with the front sole 521 and the rear sole 522. The pressure sensor is fixed to the front sole 521 and the rear sole 522 by gluing. The insole 524 is glued to the front sole 521 and the rear sole 522. The sole 525 is glued to the front sole 521 and the rear sole 522.
As shown in fig. 16 and 17, when the exoskeleton is in the active driving state, the driving module 22 drives the winding reel 222 through the driving motor 221 to tighten the steel ropes fixed thereon, one steel wire closes the knee joint of the exoskeleton, and one steel wire rotates the ankle joint, so as to provide the power assisting effect for the human body during flexion and extension. When the knee joint enters the flexion state, the driving motor 221 enters the follow-up mode, and no power assisting effect is achieved at this time.
When the exoskeleton is in a passive driving state, one end of the elastic rope is in threaded connection with the shank connecting sheet 43, the elastic rope passes through a gap between the knee joint pulley 46 and the limiting sheet 48, and the other end of the elastic rope is fixed with the thigh binding plate 34. When the human knee joint is bent, the exoskeleton knee joint is bent along with the human knee joint, meanwhile, the elastic rope belt is deformed to store energy, and when the human knee joint is bent and stretched, the elastic rope rebounds to release energy, so that the exoskeleton knee joint is closed, and a power assisting effect is provided for a human body.
In summary, the rigid-flexible hybrid exoskeleton of the invention has a flexible knee joint, which can bend along with the action of the human body, and can be worn on the bodies of users with different body shapes in a fitting manner, so that the wearing comfort is improved. Meanwhile, the rigid-flexible hybrid exoskeleton can provide reliable support and assistance, and has the advantages of simple structure and light weight.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (12)
1. A rigid-flexible hybrid exoskeleton, comprising: the device comprises a back support module, a suspension back frame module, a hip joint, a driving module, a leg part, a flexible knee joint and an ankle joint module;
the suspension back frame module is connected with the hip joint through the back support module, the driving module is connected with one end of the hip joint, the leg comprises a thigh rod and a shank rod, one end of the thigh rod is connected with the other end of the hip joint, one end of the thigh rod is connected with one end of the shank rod through the flexible knee joint, and the other end of the shank rod is connected with the ankle joint module.
2. The rigid-flexible hybrid exoskeleton of claim 1 wherein said flexible knee joint comprises: the ankle joint comprises a thigh rod connecting piece, at least one intermediate connecting piece and a shank rod connecting piece, wherein the thigh rod connecting piece is connected with the other end of the thigh rod, the thigh rod connecting piece is connected with the intermediate connecting piece through a positioning pin, the intermediate connecting piece is connected with the shank rod connecting piece through a positioning pin, the shank rod connecting piece is connected with one end of the shank rod, when the intermediate connecting pieces are multiple, adjacent intermediate connecting pieces are connected through a positioning pin, a sliding groove suitable for the flexible knee joint to slide is formed in each connecting piece, and the other end of the shank rod is connected with an ankle joint module.
3. The rigid-flexible hybrid exoskeleton of claim 2 wherein any one of the connecting plates has an upper concave surface and a lower convex surface, adjacent connecting plates are engaged by the upper concave surface and the lower convex surface, and the corresponding diameters of the upper concave surface and the lower convex surface are kept consistent.
4. The rigid-flexible hybrid exoskeleton of claim 2 wherein said flexible knee joint further comprises: the tension sensor is connected with the shank rod, one end of the steel rope plug is connected with a steel rope, and the other end of the steel rope plug is connected with the tension sensor.
5. The rigid-flexible hybrid exoskeleton of claim 1 wherein said back support module comprises: the back support is pivotally connected with one end of the connecting rod, and the hip connecting piece is pivotally connected with the other end of the connecting rod.
6. The rigid-flexible hybrid exoskeleton of claim 5 further comprising: the integrated waist pad comprises a waist pad and a waist pad connecting plate, wherein the waist pad is connected with a binding interface of the waist pad connecting plate, the waist pad connecting plate is connected with the hip connecting piece, and a connecting belt of the waist pad is connected with the hip joint.
7. The rigid-flexible hybrid exoskeleton of claim 1 wherein said suspended back frame module comprises: the spring fixing device comprises a back frame, a cross beam, an upper sliding rod fixing block, a sliding rail, a spring cap and a lower sliding rod fixing block, wherein the cross beam is fixed on the back frame, the sliding block is fixed on the cross beam, the upper sliding rod fixing block is connected with the sliding rod fixing block through the sliding rail, the sliding block is fixed at the upper end of the sliding rail, the spring is sleeved on the sliding rail, and two ends of the spring are abutted to the spring cap sleeved on the sliding rail.
8. The rigid-flexible hybrid exoskeleton of claim 1 wherein said hip joint comprises: the waist rod, the hip upper connecting rod, the hip middle connecting rod, the hip lower connecting rod and the thigh rod are connected in a switching way;
the hip middle connecting rod is connected with the back supporting module through the waist rod, the hip upper connecting rod is in pivot connection with the hip middle connecting rod, the hip middle connecting rod is in pivot connection with the hip lower connecting rod, a rotation axis between the hip upper connecting rod and the hip middle connecting rod is perpendicular to a rotation axis between the hip middle connecting rod and the hip lower connecting rod, and the hip lower connecting rod is in switching pivot connection with the thigh rod.
9. The rigid-flexible hybrid exoskeleton of claim 1 wherein said drive module comprises: driving motor, reel, motor frame, reel dustcoat, battery frame, interior inferior shell and shell, driving motor is connected with motor frame and reel screw thread, the motor frame is connected with the battery frame, the battery frame ties up fixed connection with the battery frame through tying up, inboard shell wraps up with the shell after closing motor frame and battery compartment, and both ends insert in the reel dustcoat to through the screw fixation motor frame and reel dustcoat.
10. The rigid-flexible hybrid exoskeleton of claim 1 wherein said thigh bar comprises: outer leg pole, inner leg pole, general tie up and tie up board, thigh and tie up board and adjustment mechanism, outer leg pole pass through adjustment mechanism with inner leg pole is connected, inner leg pole with the thigh connection piece is connected, general tie up board, thigh tie up set up in on the outer leg pole at an interval.
11. The rigid-flexible hybrid exoskeleton of claim 1 wherein said shank bar comprises: the leg binding device comprises an outer leg rod, a general binding plate, an under-knee switching plate, a shank binding plate and an adjusting mechanism, wherein one end of the outer leg rod is connected with the under-knee switching plate, the other end of the outer leg rod is connected with the adjusting mechanism, and the general binding plate and the shank binding plate are arranged on the outer leg rod at intervals.
12. The rigid-flexible hybrid exoskeleton of claim 1 wherein said ankle joint module comprises: shank connecting rod, cushion block, disc spring, rotary shaft, oilless bush, end cover, sole support, turning connecting piece, sole;
the shank connecting rod is connected with the shank rod, the rotating shaft penetrates through the disc spring and the cushion block and is pivotally inserted into a cylindrical cavity of the shank connecting rod, the outer side of the oilless bushing is matched with the end cover, the inner side of the oilless bushing is matched with the rotating shaft, the end cover is in threaded connection with the shank connecting rod, the rotating shaft is in pin connection with the turnover connecting piece, the rotating shaft can rotate relative to the turnover connecting piece, the sole is supported and is in pin connection with the turnover connecting piece, the sole is supported and is pivotally connected with the turnover connecting piece, and the sole is supported and is in threaded connection with a rear heel.
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| CN201911224499.3A CN110900569B (en) | 2019-12-04 | 2019-12-04 | Rigid-flexible mixed exoskeleton |
| PCT/CN2019/124985 WO2021109205A1 (en) | 2019-12-04 | 2019-12-13 | Rigid-flexible hybrid exoskeleton |
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| CN201911224499.3A CN110900569B (en) | 2019-12-04 | 2019-12-04 | Rigid-flexible mixed exoskeleton |
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| CN110900569A true CN110900569A (en) | 2020-03-24 |
| CN110900569B CN110900569B (en) | 2021-07-13 |
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| CN112022618A (en) * | 2020-09-03 | 2020-12-04 | 河北工业大学 | Rigid-flexible coupling wearable walking-aid exoskeleton system |
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| WO2021109205A1 (en) | 2021-06-10 |
| CN110900569B (en) | 2021-07-13 |
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