CN111823218B - Variable-rigidity knee joint exoskeleton robot based on shape memory alloy - Google Patents
Variable-rigidity knee joint exoskeleton robot based on shape memory alloy Download PDFInfo
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- CN111823218B CN111823218B CN202010765184.6A CN202010765184A CN111823218B CN 111823218 B CN111823218 B CN 111823218B CN 202010765184 A CN202010765184 A CN 202010765184A CN 111823218 B CN111823218 B CN 111823218B
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 57
- 229910001285 shape-memory alloy Inorganic materials 0.000 title claims abstract description 52
- 210000000689 upper leg Anatomy 0.000 claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 230000006870 function Effects 0.000 claims abstract description 8
- 238000006073 displacement reaction Methods 0.000 claims description 30
- 230000001681 protective effect Effects 0.000 claims description 13
- 210000002414 leg Anatomy 0.000 claims description 12
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 230000008602 contraction Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 5
- 229910000838 Al alloy Inorganic materials 0.000 abstract description 2
- 244000309466 calf Species 0.000 abstract 1
- 210000003127 knee Anatomy 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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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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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1085—Programme-controlled manipulators characterised by positioning means for manipulator elements positioning by means of shape-memory materials
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The utility model provides a become rigidity knee joint ectoskeleton robot based on shape memory alloy, belongs to the man-machine and fuses the field, including thigh branch spare, shank branch spare, bearing frame supporting seat, knee joint driving medium, knee joint motor, become rigidity module. The variable stiffness module is fixed on one side of the shank support part, the upper part of the variable stiffness module is connected with the knee joint flange seat through the knee joint transmission part, and the memory alloy in the variable stiffness module can realize stiffness adjustment. The knee joint motor is fixedly connected with the thigh support piece to provide power. The thigh support and the calf support are maintained in a parallel relationship. The upper end of the bearing seat supporting seat is fixedly connected with the bottom of the thigh supporting part, and the turning function of the knee joint is realized by utilizing the internal bearing. The output end piece of the bearing seat is fixedly connected with the shank support piece and used for driving the shank support piece to move. The shape memory alloy is used as a driving principle, so that the overall maneuvering performance of the exoskeleton is improved; the variable-rigidity exoskeleton knee joint can effectively assist a wearer to walk; the material adopts beautiful aluminum alloy, can effectively bear the external force, protects the wearer.
Description
Technical Field
The invention belongs to the field of man-machine fusion, and particularly relates to a variable-rigidity knee joint exoskeleton robot.
Background
With the continuous improvement of the requirements of modern warfare and medical treatment on the enhancement and recovery of the motion capability of a tested group, the knee exoskeleton gradually becomes a research hotspot. The knee joint assisting exoskeleton robot is a mechanical device which can be worn outside the body of an operator, can provide support and assistance for the wearer, and can enhance and restore the motion function of the wearer, so that great practical significance is realized in the development of the knee joint assisting exoskeleton robot.
The traditional variable-rigidity exoskeleton robot can isolate the contact collision between the body and the surrounding environment, protect the safety of a subject, and adapt to different precision, speed and load requirements. However, the variable stiffness units are driven by mechanical structures, and the structures are complex. The exoskeleton system is too large in size and weight to be effectively applied to the exoskeleton device.
Disclosure of Invention
In consideration of the technical background, in order to reduce the weight and enhance the system maneuverability, the variable-stiffness lower limb exoskeleton robot based on the shape memory alloy is developed, the main principle is that the material science characteristics of an intelligent material are combined with the human lower limb movement science, the force and displacement output in the phase change process of the intelligent material are utilized to replace the traditional motor structure to drive a variable-stiffness unit, and the traditional motor is combined to drive the knee joint exoskeleton equipment. On the basis of meeting the requirements of war and medical treatment on exoskeletal equipment, the self weight of the exoskeleton is reduced, and the flexibility of the exoskeleton is enhanced.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the variable-rigidity knee joint exoskeleton robot based on the shape memory alloy is compact and simple in structure, reasonable in gravity center arrangement and stable and reliable in movement. The variable-rigidity knee joint exoskeleton robot comprises a thigh support part 1, a shank support part 6, a bearing seat supporting seat 10, a bearing seat output end piece 9, a knee joint flange seat 4, a knee joint driving part 8, a knee joint motor 3, a motor auxiliary supporting plate 2, a thigh and leg binding plate 11, a shank and leg binding plate 7 and a variable-rigidity module 5.
The bottom of the variable stiffness module 5 is fixed on one side of the shank support part 6 and is parallel to the shank support part 6, the upper part of the variable stiffness module is connected with the knee joint flange seat 4 through the knee joint transmission part 8, the moment of the knee joint motor 3 can be transmitted, bidirectional flexible output is realized by utilizing spring compression, and the stiffness adjustment can be realized by memory alloy in the variable stiffness module 5; the knee joint motor 3 is fixedly connected with the thigh support part 1 through the motor auxiliary supporting plate 2 and keeps a vertical relation with the thigh support part 1, and output torque is transmitted to the variable stiffness module 5 through the knee joint flange seat 4 and the knee joint transmission part 8 to provide power for the exoskeleton robot; the thigh support 1 and the shank support 6 are kept in parallel relation; the thigh and leg binding plate 11 is arranged in the middle of the thigh support 1, and the shank and leg binding plate 7 is arranged in the middle of the shank support 6 and used for binding and fixing when a human body wears the thigh and leg binding plate; the bearing seat support seat 10 is matched and connected with the bearing seat output end sheet 9 through a shaft, the upper end of the bearing seat support seat is fixedly connected with the bottom of the thigh support part 1, and the rotation function of the knee joint can be realized by utilizing an internal bearing; the lower end of the bearing seat output end piece 9 is fixedly connected with the upper end of the shank support piece 6 and used for driving the shank support piece 6 to move.
Further, the stiffness variable module 5 includes a guide assembly 501, a tension spring protection guide 502, a guide plate 503, a guide sleeve 504, an oilless bushing 505, a protection housing 506, a connection buckle 507, a bottom plate 508, a mounting plate 510, a linear displacement sensor 509, linear displacement sensor fixing parts 511 and 512, a linear displacement sensor connecting part 513, a memory alloy wire top fixing part 514, a guide connection shaft 515, a spring 516, a memory alloy wire 518, a memory alloy wire binding part 517, and a memory alloy wire bottom fixing part 519. The bottom of the guide assembly 501 is fixedly connected with the extension spring protection guide 502, and the top of the guide assembly is connected with the knee joint transmission part 8, so that the moment output by the knee joint motor 3 can be transmitted to the rigidity changing module 5. The extension spring protection guide 502 is connected to a guide plate 503 through a guide connection shaft 515, and can move up and down along a middle groove of the guide plate 503, and the bottom of the guide plate 503 is connected to a guide sleeve 504. The guiding sleeve 504 is matched with a protective casing 506 through an oilless bushing 505 for guiding the spring, a connecting buckle 507 is connected with the protective casing 506 and a bottom plate 508, and the protective casing 506 is used for protecting the internal structure of the spring. One side of the mounting plate 510 is fixedly connected with the lower leg support 6 and is parallel to the lower leg support 6, and the upper part of the mounting plate is connected with the bottom plate 508 to play a role in supporting the variable stiffness module 5; the lower end of the linear displacement sensor 509 is arranged outside the protective shell 506 through linear displacement sensor fixing pieces 511 and 512, and the upper end of the linear displacement sensor 509 is arranged on the upper side of the guide sleeve 504 through a linear displacement sensor connecting piece 513; the variable stiffness module 5 only has a one-way compression function, and realizes the two-way flexible design of the variable stiffness driving element through a bilateral symmetrical structure. When the wearer has special conditions such as sudden leg stop, the system absorbs the movement moment of the motor 3 by the single-side variable stiffness unit. The spring 516 is arranged inside the guide sleeve 504 and the protective shell 506, and the rigidity of the variable rigidity module 5 can be adjusted through the tension and compression changes of the spring; the memory alloy wire top fixing piece 514 and the memory alloy wire bottom fixing piece 519 keep a parallel relation and are used for pre-tightening the memory alloy wire 518; the memory alloy wire 518 forms a plurality of parallel structures by utilizing the memory alloy wire binding piece 517, the contraction force and the contraction displacement of the memory alloy wire can be increased simultaneously, when the temperature rises, the memory alloy can be effectively contracted, and the shape memory alloy is bound in a crossed mode, so that the output force and the displacement of the variable-stiffness active unit can be effectively improved. The input bearing force unit is provided with a thermocouple at the side, so as to detect the temperature of the shape memory alloy, realize the real-time control of the phase change of the shape memory alloy, and adjust the contraction force and the displacement. The variable stiffness module 5 is arranged on two sides of the exoskeleton and is matched with a traditional motor to realize the variable stiffness function of the exoskeleton.
Compared with the prior art, the invention has the beneficial effects that:
(1) the exoskeleton is driven by the shape memory alloy, is light in weight and small in size, and improves the overall maneuvering performance of the exoskeleton.
(2) The variable-rigidity exoskeleton knee joint is designed, a wearer can be effectively assisted to walk, the variable-rigidity exoskeleton knee joint has a variable-rigidity function, and a better driving effect is achieved under the requirement of high maneuverability.
(3) The material adopts beautiful aluminum alloy, and its quality is light, and intensity is high, can effectively bear the external force, protects the person of wearing.
Drawings
Fig. 1 is an overall structural view of a variable stiffness knee exoskeleton robot used in an example of the present invention.
Fig. 2 is a block diagram of a variable stiffness active unit of a variable stiffness knee exoskeleton robot used in an embodiment of the present invention.
Fig. 3 is a structural diagram of the arrangement form of memory alloy wires in the variable stiffness active unit of the variable stiffness knee exoskeleton robot used in the embodiment of the invention.
In the figure: the knee joint rehabilitation device comprises a thigh support 1, a motor auxiliary supporting plate 2, a knee joint motor 3, a knee joint flange seat 4, a variable stiffness module 5, a shank support 6, a shank binding plate 7, a knee joint transmission piece 8, a bearing seat output end piece 9, a bearing seat supporting seat 10 and a thigh binding plate 11;
501 guide assembly parts, 502 extension spring protection guide parts, 503 guide plates, 504 guide sleeves, 505 oilless bushings, 506 protection shells, 507 connecting buckles, 508 bottom plates, 509 linear displacement sensors, 510 mounting plates, 511 and 512 linear displacement sensor fixing parts, 513 linear displacement sensor connecting parts, 514 memory alloy wire top fixing parts, 515 guide connecting shafts, 516 springs, 517 memory alloy wire binding parts, 518 memory alloy wires and 519 memory alloy wire bottom fixing parts.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
As shown in fig. 1, the variable-rigidity knee joint exoskeleton robot comprises a thigh support part 1, a shank support part 6, a bearing seat supporting seat 10, a bearing seat output end piece 9, a knee joint flange seat 4, a knee joint driving part 8, a knee joint motor 3, a motor auxiliary supporting plate 2, a thigh and leg binding plate 11, a shank and leg binding plate 7 and a variable-rigidity module 5. The bottom of the variable stiffness module 5 is fixed on one side of the shank support part 6 and is parallel to the shank support part 6, and the upper part of the variable stiffness module is connected with the knee joint flange seat 4 through the knee joint transmission part 8; the knee joint motor 3 is fixedly connected with the thigh supporting part 1 through the motor auxiliary supporting plate 2, and the output torque is transmitted to the rigidity changing module 5 through the knee joint flange seat 4 and the knee joint transmission part 8; the thigh support 1 and the shank support 6 are kept in parallel relation; a thigh and leg binding plate 11 is arranged in the middle of the thigh support 1, and a shank and leg binding plate 7 is arranged in the middle of the shank support 6; the bearing seat support seat 10 is matched and connected with the bearing seat output end sheet 9 through a shaft, and the upper end of the bearing seat support seat is fixedly connected with the bottom of the thigh support 1; the lower end of the output end piece 9 of the bearing seat is fixedly connected with the upper end of the shank support piece 6.
As shown in fig. 2 and 3, the stiffness-variable knee exoskeleton robot further comprises a guide assembly 501, a tension spring protection guide 502, a guide plate 503, a guide sleeve 504, an oilless bushing 505, a protection housing 506, a connecting buckle 507, a bottom plate 508, a mounting plate 510, a linear displacement sensor 509, linear displacement sensor fixing parts 511 and 512, a linear displacement sensor connecting part 513, a memory alloy wire top fixing part 514, a guide connecting shaft 515, a spring 516, a memory alloy wire 518, a memory alloy wire binding part 517 and a memory alloy wire bottom fixing part 519. The bottom of the guide assembly 501 is fixedly connected with the extension spring protection guide 502, and the top of the guide assembly is connected with the knee joint transmission piece 8; the extension spring protection guide 502 is connected with a guide plate 503 through a guide connection shaft 515, and the bottom of the guide plate 503 is connected with a guide sleeve 504; the guide sleeve 504 is fitted to the protective casing 506 through an oilless bushing 505, and a connection catch 507 connects the protective casing 506 to a bottom plate 508. One side of the mounting plate 510 is fixedly connected with the lower leg support 6 and keeps a vertical relation with the lower leg support 6, and the upper part is connected with the bottom plate 508; the lower end of a linear displacement sensor 509 is arranged outside the protective shell 506 through linear displacement sensor fixing pieces 511 and 512, and the upper end of the linear displacement sensor 509 is arranged on the upper side of the guide sleeve 504 through a linear displacement sensor connecting piece 513; a spring 516 is mounted inside the guide sleeve 504 and the protective housing 506; memory alloy wire top mount 514 and memory alloy wire bottom mount 519 remain in a parallel relationship; the memory alloy wire 518 utilizes memory alloy wire ties 517 to form multiple parallel structures.
While the invention has been described with reference to the drawings and examples, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
The above-mentioned embodiments only express the embodiments of the present invention, but not should be understood as the limitation of the scope of the invention patent, it should be noted that, for those skilled in the art, many variations and modifications can be made without departing from the concept of the present invention, and these all fall into the protection scope of the present invention.
Claims (1)
1. The variable-rigidity knee joint exoskeleton robot is characterized by comprising thigh supporting pieces (1), a shank supporting piece (6), a bearing seat supporting seat (10), a bearing seat output end piece (9), a knee joint flange seat (4), a knee joint driving piece (8), a knee joint motor (3), a motor auxiliary supporting plate (2), a thigh leg binding plate (11), a shank leg binding plate (7) and a variable-rigidity module (5);
the bottom of the variable stiffness module (5) is fixed on one side of the shank support piece (6) and is parallel to the shank support piece (6), the upper part of the variable stiffness module is connected with the knee joint flange seat (4) through a knee joint transmission piece (8) and is used for transmitting the moment of the knee joint motor (3), the two-way flexible output is realized by utilizing the compression of a spring, and the stiffness adjustment can be realized by using the shape memory alloy in the variable stiffness module (5); the knee joint motor (3) is fixedly connected with the thigh supporting piece (1) through the motor auxiliary supporting plate (2) and keeps a vertical relation with the thigh supporting piece (1), and output torque is transmitted to the variable stiffness module (5) through the knee joint flange seat (4) and the knee joint transmission piece (8) to provide power for the exoskeleton robot; the thigh support (1) and the shank support (6) are kept in parallel; the thigh and leg binding plate (11) is arranged in the middle of the thigh support (1), and the shank and leg binding plate (7) is arranged in the middle of the shank support (6) and used for binding and fixing when a human body wears; the bearing seat supporting seat (10) is connected with the bearing seat output end sheet (9) in a matched mode through a shaft, the upper end of the bearing seat supporting seat is fixedly connected with the bottom of the thigh supporting piece (1), and the rotation function of the knee joint is realized by utilizing an internal bearing; the lower end of the output end piece (9) of the bearing seat is fixedly connected with the upper end of the shank support (6) and is used for driving the shank support (6) to move;
the rigidity-variable module (5) comprises a guide assembly part (501), a tension spring protection guide part (502), a guide plate (503), a guide sleeve (504), an oilless bushing (505), a protection shell (506), a connecting buckle (507), a bottom plate (508), a mounting plate (510), a linear displacement sensor (509), a linear displacement sensor connecting part (513), a memory alloy wire top fixing part (514), a guide connecting shaft (515), a spring (516), a memory alloy wire (518), a memory alloy wire binding part (517) and a memory alloy wire bottom fixing part (519); the variable stiffness module (5) only has a one-way compression function, and the two-way flexible design of the variable stiffness active unit is realized through a symmetrical structure on two sides;
the bottom of the guide assembly part (501) is fixedly connected with the extension spring protection guide part (502), and the top of the guide assembly part is connected with the knee joint transmission part (8) to transmit the torque output by the knee joint motor (3) to the variable stiffness module (5); the extension spring protection guide piece (502) is connected with a guide plate (503) through a guide connecting shaft (515) and can move up and down along a middle groove of the guide plate (503), and the bottom of the guide plate (503) is connected with a guide sleeve (504); the guide sleeve (504) is matched with the protective shell (506) through an oilless bushing (505) and used for guiding the spring, and the connecting buckle (507) is connected with the protective shell (506) and the bottom plate (508); one side of the mounting plate (510) is fixedly connected with the lower leg support (6) and is parallel to the lower leg support (6), and the upper part of the mounting plate (510) is connected with a bottom plate (508) for supporting the variable stiffness module (5); the lower end of the linear displacement sensor (509) is arranged on the outer side of the protective shell (506) through a linear displacement sensor fixing piece, and the upper end of the linear displacement sensor (509) is arranged on the upper side of the guide sleeve (504) through a linear displacement sensor connecting piece (513); the spring (516) is arranged inside the guide sleeve (504) and the protective shell (506), and the stretching and compression changes of the spring can adjust the rigidity of the rigidity changing module (5); the memory alloy wire top fixing piece (514) and the memory alloy wire bottom fixing piece (519) keep a parallel relation and are used for pre-tightening the memory alloy wire (518); the memory alloy wire (518) forms a plurality of parallel structures by using the memory alloy wire binding piece (517), the contraction force and the contraction displacement of the memory alloy wire can be increased simultaneously, when the temperature rises, the shape memory alloy contracts effectively, and the memory alloy wire binding piece (517) binds the shape memory alloy in a cross way, so that the output force and the displacement of the variable-stiffness active unit are improved; the exoskeleton robot is provided with a thermocouple for detecting the temperature of the shape memory alloy, realizing real-time control on the phase change of the shape memory alloy, and further adjusting the contraction force and the displacement.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010765184.6A CN111823218B (en) | 2020-08-03 | 2020-08-03 | Variable-rigidity knee joint exoskeleton robot based on shape memory alloy |
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| CN202010765184.6A CN111823218B (en) | 2020-08-03 | 2020-08-03 | Variable-rigidity knee joint exoskeleton robot based on shape memory alloy |
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| CN111823218B true CN111823218B (en) | 2022-01-14 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5996346A (en) * | 1993-07-28 | 1999-12-07 | The Board Of Trustees Of The Leland Stanford Junior University | Electrically activated multi-jointed manipulator |
| CN201510472U (en) * | 2009-06-26 | 2010-06-23 | 北京工业大学 | Wearable lower limb exoskeleton device |
| CN103722550A (en) * | 2014-01-17 | 2014-04-16 | 上海交通大学 | Embedded type system of outer skeleton robot |
| CN107263525A (en) * | 2017-04-25 | 2017-10-20 | 北京航空航天大学 | A kind of variation rigidity rope driving joint available for ectoskeleton and walking robot |
| CN108042316A (en) * | 2017-10-19 | 2018-05-18 | 布法罗机器人科技（成都）有限公司 | A kind of bionical variation rigidity flexibility knee joint of exoskeleton robot |
| CN110545777A (en) * | 2017-04-13 | 2019-12-06 | 漫游机械人技术公司 | Leg exoskeleton system and method |
-
2020
- 2020-08-03 CN CN202010765184.6A patent/CN111823218B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5996346A (en) * | 1993-07-28 | 1999-12-07 | The Board Of Trustees Of The Leland Stanford Junior University | Electrically activated multi-jointed manipulator |
| CN201510472U (en) * | 2009-06-26 | 2010-06-23 | 北京工业大学 | Wearable lower limb exoskeleton device |
| CN103722550A (en) * | 2014-01-17 | 2014-04-16 | 上海交通大学 | Embedded type system of outer skeleton robot |
| CN110545777A (en) * | 2017-04-13 | 2019-12-06 | 漫游机械人技术公司 | Leg exoskeleton system and method |
| CN107263525A (en) * | 2017-04-25 | 2017-10-20 | 北京航空航天大学 | A kind of variation rigidity rope driving joint available for ectoskeleton and walking robot |
| CN108042316A (en) * | 2017-10-19 | 2018-05-18 | 布法罗机器人科技（成都）有限公司 | A kind of bionical variation rigidity flexibility knee joint of exoskeleton robot |
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| CN111823218A (en) | 2020-10-27 |
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