CN110962116A - Exoskeleton robot with lower limb assistance function - Google Patents
Exoskeleton robot with lower limb assistance function Download PDFInfo
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- CN110962116A CN110962116A CN201911378838.3A CN201911378838A CN110962116A CN 110962116 A CN110962116 A CN 110962116A CN 201911378838 A CN201911378838 A CN 201911378838A CN 110962116 A CN110962116 A CN 110962116A
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- plate
- elastic element
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- clutch device
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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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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a lower limb assisting exoskeleton robot which comprises a thigh plate, a shank plate, a clutch device, a first elastic element and a second elastic element, wherein the thigh plate and the shank plate are rotationally connected through the clutch device; one end of the first elastic element is hinged with the free end of the thigh plate, and the other end of the first elastic element is hinged with the upper connecting piece of the clutch device; one end of the second elastic element is hinged with the free end of the shank plate, and the other end of the second elastic element is hinged with the lower connecting piece of the clutch device; when the clutch device works, the included angle between the upper connecting piece and the lower connecting piece is smaller than the included angle between the thigh plate and the shank plate; when the clutch device is not in operation, the included angle between the upper connecting piece and the lower connecting piece is equal to the included angle between the thigh plate and the shank plate. The invention provides a power-assisted exoskeleton robot which can provide power in a standing stage and does not block swinging in a swinging stage, so that the problems that the existing running power-assisted exoskeleton robot can block swinging of thighs of a human body and increase metabolic consumption are solved.
Description
Technical Field
The invention relates to the field of exoskeleton robots, in particular to an exoskeleton robot with assistance of lower limbs.
Background
The human body can be divided into a standing stage and a swinging stage in the running process, and research shows that the mechanical characteristics of legs in the standing stage in the running process of the human body can be approximately estimated by using a spring mass model area. According to the principle, several types of exoskeletons are applied to the assistance during the running process of a human body, however, most exoskeletons applied to the assistance during the running process can provide assistance during the standing stage of the human body to relieve the joint and muscle loads, but play a role in blocking the swinging stage of the lower limbs of the human body, which undoubtedly increases the energy consumption during the running process of the human body.
Disclosure of Invention
The invention aims to provide a lower limb power-assisted exoskeleton robot, which can provide power assistance in a standing stage and does not hinder swinging in a swinging stage, so as to solve the problem that the existing running power-assisted exoskeleton robot mostly hinders swinging of thighs of a human body and increases metabolic consumption.
In order to solve the technical problem, the invention provides a lower limb assistance exoskeleton robot, which comprises a thigh plate, a lower leg plate, a clutch device, a first elastic element and a second elastic element, wherein the thigh plate and the lower leg plate are rotationally connected through the clutch device; one end of the first elastic element is hinged with the free end of the thigh plate, and the other end of the first elastic element is hinged with the upper connecting piece of the clutch device; one end of the second elastic element is hinged with the free end of the lower leg plate, and the other end of the second elastic element is hinged with the lower connecting piece of the clutch device; when the clutch device works, the included angle between the upper connecting piece and the lower connecting piece is smaller than the included angle between the thigh plate and the shank plate; when the clutch device is not in operation, the included angle between the upper connecting piece and the lower connecting piece is equal to the included angle between the thigh plate and the shank plate.
Further, the clutch device comprises a first gear tooth, a second gear tooth and an electromagnetic clutch, and the electromagnetic clutch can control the first gear tooth and the second gear tooth to be meshed or separated.
Furthermore, the clutch device also comprises a gear ring, a central gear and a plurality of planet gears, wherein the planet gears are arranged around the central gear and are externally meshed with the central gear; the gear ring is sleeved outside the planetary gear and is internally meshed with the planetary gear; the gear circle with the lower connecting piece is connected, planetary gear is connected with the output, the output with go up the connecting piece and connect.
Further, the electromagnetic clutch can be controlled by an optical-electrical encoder located at the knee joint.
Furthermore, an acceleration sensor is arranged at the knee joint and electrically connected with the photoelectric encoder.
Further, the material of the thigh panel and the shank panel each comprises a fibrous material.
Further, the first elastic element is hinged to the thigh plate by a first rotation shaft, which is parallel to a fixed shaft inserted on the sun gear.
Further, the second elastic element is hinged to the lower leg plate through a second rotating shaft, and the second rotating shaft is parallel to a fixed shaft inserted on the central gear.
Furthermore, the thigh plate and the shank plate are both provided with a binding band.
The invention has the beneficial effects that:
the clutch device can be locked in the standing phase by utilizing the clutch device to control the first elastic element arranged on the thigh plate and the second elastic element arranged on the shank plate, so that the first elastic element and the second elastic element are compressed to store elastic potential energy; the clutch device is unlocked in the swinging stage, the first elastic element and the second elastic element are not compressed, and the thigh plate and the shank plate can rotate freely, so that the motion of legs of a human body is not influenced.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the clutch device of the present invention;
FIG. 3 is a schematic view of a clutched device of the present invention;
FIG. 4 is a schematic illustration of the clutched device of the present invention in operation;
fig. 5 is a schematic diagram of the working principle of the present invention.
The reference numbers in the figures illustrate: 1. a thigh panel; 2. a first elastic element; 3. a shank plate; 4. a second elastic element; 5. binding bands; 6. a clutch device; 61. a gear ring; 62. a sun gear; 621. a fixed shaft; 63. a planetary gear; 64. an upper connecting piece; 65. a lower connecting piece; 66. a first gear tooth; 67. a second gear tooth; 68. an electromagnetic clutch; 69. and (4) an output end.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
Referring to fig. 1-5, one embodiment of the exoskeleton robot for assisting lower limbs of the present invention comprises a thigh plate 1, a shank plate 3, a clutch device 6, a first elastic element 2 and a second elastic element 4, wherein the thigh plate 1 and the shank plate 3 are hinged through the clutch device 6. One end of the first elastic element 2 is hinged to the free end of the thigh plate 1 and the other end is hinged to the upper connection 64 of the clutch device 6. One end of the second elastic element 4 is hinged with the free end of the lower leg plate 3, and the other end is hinged with the lower connecting piece 65 of the clutch device 6.
The clutch device 6 includes a first gear tooth 66, a second gear tooth 67, and an electromagnetic clutch 68, the first gear tooth 66 and the second gear tooth 67 being capable of external engagement, while the electromagnetic clutch 68 is used to control engagement and disengagement of the first gear tooth 66 and the second gear tooth 67. The clutch device 6 further comprises a gear ring 61, a sun gear 62 and a number of planet gears 63, all planet gears 63 being arranged around the sun gear 62 and all planet gears 63 being in mesh with the sun gear 62. Meanwhile, the gear ring 61 is sleeved outside the sun gear 62 and the planetary gears 63, and all the planetary gears 63 are meshed with the gear ring 61. In the embodiment, the sun gear 62 is fixedly connected with the housing through a fixed shaft 621, an output end 69 penetrates through any planetary gear 63, and the output end 69 is connected with an upper connecting piece 64; while the gear ring 61 and the lower connecting member 65 are connected.
When the clutch device 6 is operated, the electromagnetic clutch 68 can push the first gear tooth 66 to move towards the output end 69, so that the first gear tooth 66 and the second gear tooth 67 are electromagnetically pushed to be meshed with each other, at this time, the output end 69 is rigidly connected with the planetary gear 63, the output end 69 drives the planetary gear 63 to rotate around the central gear 62, and the gear ring 61 can be driven to rotate through the meshed engagement of the planetary gear 63 and the gear ring 61, at this time, the rotation direction of the gear ring 61 is the same as the movement direction of the lower leg plate 3, but the rotation speed is lower than that of the lower leg plate, so that the included angle between the lower connecting piece 65 and the upper connecting piece 64 of the clutch device 6 is smaller than that between the upper leg plate 1 and. Thus, the first elastic element 2 and the second elastic element 4 are both in a compressed state, and when the included angle between the thigh plate 1 and the shank plate 3 is reduced, the first elastic element 2 and the second elastic element 4 release elastic potential energy. Thus, during jumping and running, energy generated by the stretching of the muscles of the legs of the human body and the like is stored through the first elastic elements 2 and the second elastic elements 4, and the metabolic consumption of the human body is reduced.
When the clutch device 6 is not in operation, the first gear teeth 66 can be driven to move by the spring inside the electromagnetic clutch 68, so that the first gear teeth 66 and the second gear teeth 67 are separated, and the connection between the output end 69 and the planetary gear 63 is released, so that the output end 69 can rotate freely. The angle between the lower and upper joints 65 and 64 is thus equal to the angle between the thigh panel 1 and the shank panel 3, at which point neither the first elastic element 2 nor the second elastic element 4 is compressed and in an unloaded state. The first elastic element 2 arranged on the thigh plate 1 and the second elastic element 4 arranged on the shank plate 3 are controlled by the clutch device 6 to lock the clutch device 6 in the standing phase, so that the first elastic element 2 and the second elastic element 4 are compressed to store elastic potential energy; the clutch device 6 is unlocked in the swinging stage, the first elastic element 2 and the second elastic element 4 are not compressed, and the thigh plate 1 and the shank plate 3 can rotate freely, so that the motion of the legs of the human body is not influenced.
The photoelectric encoder is arranged inside the electromagnetic clutch 68, so that the electromagnetic clutch 68 can be controlled to be switched on or off through the photoelectric encoder, and the work of the electromagnetic clutch 68 is more accurate. Meanwhile, an acceleration sensor is arranged at the knee joint and electrically connected with the photoelectric encoder. The acceleration of the knee joint of the human body is different in the running and jumping stages, the standing stage and the swinging stage, and thus the acceleration at the knee joint can be monitored by an acceleration sensor to transmit a signal to the electromagnetic clutch 68, thereby controlling the engagement and disengagement between the first and second gear teeth 66 and 67 using the electromagnetic clutch 68.
A fixing shaft 621 is inserted in the middle of the sun gear 62 to connect the sun gear 62 and the housing. The first elastic member 2 and the thigh plate 1 are hinged by a first rotation shaft, and the first rotation shaft and the above-mentioned fixed shaft 621 are disposed in parallel, so that interference when the thigh plate 1 rotates can be reduced to be ergonomic. The second elastic member 4 and the lower leg plate 3 are hinged by a second rotation shaft, and the second rotation shaft is disposed in parallel with the above-mentioned fixed shaft 621, so that interference when the lower leg plate 3 rotates can be reduced to be ergonomic.
The thigh plate 1 and the shank plate 3 are both provided with a binding band 5 so as to fix the thigh plate 1 and the shank plate 3.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (9)
1. The lower limb assistance exoskeleton robot is characterized by comprising a thigh plate, a shank plate, a clutch device, a first elastic element and a second elastic element, wherein the thigh plate and the shank plate are rotationally connected through the clutch device; one end of the first elastic element is hinged with the free end of the thigh plate, and the other end of the first elastic element is hinged with the upper connecting piece of the clutch device; one end of the second elastic element is hinged with the free end of the lower leg plate, and the other end of the second elastic element is hinged with the lower connecting piece of the clutch device; when the clutch device works, the included angle between the upper connecting piece and the lower connecting piece is smaller than the included angle between the thigh plate and the shank plate; when the clutch device is not in operation, the included angle between the upper connecting piece and the lower connecting piece is equal to the included angle between the thigh plate and the shank plate.
2. The lower extremity assisted exoskeleton robot of claim 1 wherein said clutch means comprises a first gear tooth, a second gear tooth and an electromagnetic clutch, said electromagnetic clutch capable of controlling said first gear tooth and said second gear tooth to engage or disengage.
3. The lower extremity assisted exoskeleton robot of claim 2 wherein said clutch means further comprises a gear ring, a sun gear and a plurality of planet gears disposed around said sun gear and in external engagement with said sun gear; the gear ring is sleeved outside the planetary gear and is internally meshed with the planetary gear; the gear circle with the lower connecting piece is connected, planetary gear is connected with the output, the output with go up the connecting piece and connect.
4. The lower extremity assisted exoskeleton robot of claim 3 wherein said electromagnetic clutch is controllable by an opto-electronic encoder located at the knee joint.
5. The lower extremity assisted exoskeleton robot of claim 4 wherein an acceleration sensor is disposed at a knee joint, and wherein the acceleration sensor is electrically connected to the optical-to-electrical encoder.
6. The lower extremity assisted exoskeleton robot of claim 1 wherein the material of each of the thigh plate and the calf plate comprises a fibrous material.
7. The lower extremity assisted exoskeleton robot of claim 3 wherein said first elastic element is articulated to said thigh plate by a first rotation axis, said first rotation axis being parallel to a fixed axis interposed on said sun gear.
8. The lower extremity assisted exoskeleton robot of claim 3 wherein said second elastic element is articulated to said calf plate by a second axis of rotation, said second axis of rotation being parallel to a fixed axis interposed on said sun gear.
9. The lower extremity assisted exoskeleton robot of claim 1 wherein said thigh plate and said shank plate each have a strap disposed thereon.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911378838.3A CN110962116A (en) | 2019-12-27 | 2019-12-27 | Exoskeleton robot with lower limb assistance function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911378838.3A CN110962116A (en) | 2019-12-27 | 2019-12-27 | Exoskeleton robot with lower limb assistance function |
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| Publication Number | Publication Date |
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| CN110962116A true CN110962116A (en) | 2020-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911378838.3A Pending CN110962116A (en) | 2019-12-27 | 2019-12-27 | Exoskeleton robot with lower limb assistance function |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112873174A (en) * | 2020-12-03 | 2021-06-01 | 中国科学院深圳先进技术研究院 | Exoskeleton robot knee joint based on electromagnetic clutch |
| CN112894789A (en) * | 2021-01-19 | 2021-06-04 | 黄宇波 | Driving structure and control system of mechanical exoskeleton |
-
2019
- 2019-12-27 CN CN201911378838.3A patent/CN110962116A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112873174A (en) * | 2020-12-03 | 2021-06-01 | 中国科学院深圳先进技术研究院 | Exoskeleton robot knee joint based on electromagnetic clutch |
| CN112894789A (en) * | 2021-01-19 | 2021-06-04 | 黄宇波 | Driving structure and control system of mechanical exoskeleton |
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Effective date of registration: 20210901 Address after: 215100 room d306, South third floor, huanxiuhu building (formerly Yicheng Horticulture), high speed railway new town, Xiangcheng District, Suzhou, Jiangsu Province Applicant after: Maybe Intelligent Technology (Suzhou) Co.,Ltd. Address before: 215100 South 3rd and 4th Floors of Huanxiu Lake Building, Xiangcheng High-speed Railway New Town, Suzhou City, Jiangsu Province Applicant before: JIANGSU JICUI MICRO-NANO AUTOMATION SYSTEM AND EQUIPMENT TECHNOLOGY RESEARCH INSTITUTE Co.,Ltd. |
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