CN111823267A - Power-assisted joint, supporting leg and exoskeleton - Google Patents
Power-assisted joint, supporting leg and exoskeleton Download PDFInfo
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- CN111823267A CN111823267A CN202010692994.3A CN202010692994A CN111823267A CN 111823267 A CN111823267 A CN 111823267A CN 202010692994 A CN202010692994 A CN 202010692994A CN 111823267 A CN111823267 A CN 111823267A
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- rotating shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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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
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a power-assisted joint which comprises a joint seat, wherein a rotating shaft in rotating fit with the joint seat and a power-assisted driving mechanism for driving the rotating shaft to rotate relative to the joint seat are arranged on the joint seat; the power-assisted driving mechanism comprises a driving wheel sleeved outside the rotating shaft and a power mechanism used for driving the driving wheel to rotate; and a rotation limiting structure used for limiting the angle range of the rotating shaft which can freely rotate relative to the driving wheel is arranged between the rotating shaft and the driving wheel. The invention also provides a power-assisted supporting leg and a power-assisted exoskeleton, wherein a rotation limiting structure is arranged between the rotating shaft and the driving wheel, so that the rotating shaft can rotate freely within an angle range limited by the rotation limiting structure, namely, a rotation allowance is reserved between the rotating shaft and the driving wheel, therefore, a user can utilize the leg part to drive the rotating shaft to rotate freely relative to the driving wheel in the starting stage, thereby obtaining the walking data of the user and prejudging the walking intention of the user, and the power-assisted driving mechanism can be conveniently utilized to provide power assistance.
Description
Technical Field
The invention relates to an exoskeleton, in particular to a power-assisted joint, a supporting leg and an exoskeleton.
Background
In some situations where conventional wheeled vehicles are difficult to use, it is often necessary to carry objects with human or animal power. When a porter carries goods to go up and down stairs, scientific investigation and fire fighters are in field operation, and soldiers walk in mountain land heavy-load combat, the soldiers need to bear heavy loads to walk for a long distance, and the heavy loads can cause certain damage to human bodies. In addition, with the problem of global aging becoming more serious, the exoskeleton can help some old people to solve the problems of poor physical strength and unchanged walking and help some people with incapability of moving to recover partial mobility.
The assistance exoskeleton is characterized in that cooperation with a wearer is required in an unstructured environment, and researchers need to solve the problem of highly coordinated human-computer integration in the unstructured environment, including effective and reliable human-computer interaction, rapid response to human movement intention, light and flexible bionic structure design, safety of a human-computer system and the like. The existing power-assisted exoskeleton generally has a complex power-assisted system, the power-assisted system firstly needs to acquire data to prejudge the walking action of a human body to assist in providing power assistance, and when the first step of walking is started, the power-assisted system can not prejudge the walking direction and action of the human body, at the moment, the human body is generally required to overcome the resistance of the power-assisted system to carry out the walking action and then provide the power assistance, so that the problem that the walking fails because the old people who are difficult to walk or the people who are tired of walking for a long time is a great burden, and even the problem that the walking fails because the old people.
Disclosure of Invention
In view of the above, the invention aims to provide a power-assisted joint, a support leg and an exoskeleton, which are simple and compact in structure and reserve walking rotation allowance, so that a power-assisted system can smoothly acquire walking data of a human body and make a predetermined judgment to provide power assistance.
In order to achieve the purpose, the invention provides the following technical scheme:
a power-assisted joint comprises a joint seat, wherein a rotating shaft in rotating fit with the joint seat and a power-assisted driving mechanism for driving the rotating shaft to rotate relative to the joint seat are arranged on the joint seat;
the power-assisted driving mechanism comprises a driving wheel sleeved outside the rotating shaft and a power mechanism used for driving the driving wheel to rotate; and a rotation limiting structure used for limiting the angle range of the rotating shaft which can freely rotate relative to the driving wheel is arranged between the rotating shaft and the driving wheel.
Furthermore, the rotation limiting structure comprises an engaging groove arranged on the inner wall of the driving wheel, the rotating shaft is provided with engaging teeth matched with the engaging groove, and the width of the engaging teeth is smaller than that of the engaging groove and enables the engaging teeth to move within the range limited by the engaging groove.
Furthermore, a clutch mechanism is arranged between the rotating shaft and the driving wheel; the clutch mechanism comprises a clutch seat which synchronously rotates with the rotating shaft, a clutch sliding groove is arranged in the clutch seat, a clutch insert block is arranged in the clutch sliding groove, and a clutch driving mechanism for driving the clutch insert block to extend forwards or retract backwards along the clutch sliding groove is arranged on the clutch seat; the front end of the clutch insert block is provided with clutch gear shaping, and the inner wall of the driving wheel is provided with a clutch slot matched with the clutch gear shaping.
Furthermore, the rotation limiting structure is arranged between the clutch insert block and the clutch chute, and the fit clearance between the clutch insert block and the clutch chute is gradually increased or gradually decreased along the direction from the front end to the rear end of the clutch insert block, so that the clutch insert block can freely rotate in the limited range of the two side walls of the clutch chute relative to the clutch seat; or the like, or, alternatively,
the rotation limiting structure is arranged between the clutch gear shaping and the clutch slot, and the width of the clutch gear shaping is smaller than that of the clutch slot and enables the clutch gear shaping to move within the range limited by the clutch slot.
Further, the separation and reunion inserted block include with separation and reunion spout complex separation and reunion cooperation section, the width of separation and reunion spout increases gradually or reduces to the direction of rear end along the front end finger, just the width of separation and reunion cooperation section with the minimum width of separation and reunion spout equals.
Furthermore, the clutch driving mechanism comprises a clutch spring which is arranged at the rear end of the clutch insert and used for driving the clutch insert to extend forwards along the clutch chute, and a clutch cylinder which is used for driving the clutch insert to retract backwards and compressing the clutch spring is arranged on the clutch seat; the clutch cylinder is characterized in that a clutch limiting block is arranged on a telescopic rod of the clutch cylinder, a clutch matching block located on the rear side of the clutch limiting block is arranged on the clutch inserting block, and the clutch limiting block is in spacing matching with the clutch matching block.
Further, the driving wheel adopts a turbine, and the power mechanism comprises a worm meshed with the turbine and a power-assisted motor for driving the worm to rotate; or the driving wheel adopts a gear, and the power mechanism comprises a driving gear meshed with the gear and a power-assisted motor used for driving the driving gear to rotate.
The invention also provides a power-assisted support leg which comprises a thigh connecting rod and a shank connecting rod;
a hip connecting piece is arranged above the thigh connecting rod, and a hip joint is arranged between the hip connecting piece and the thigh connecting rod; a knee joint is arranged between the thigh connecting rod and the shank connecting rod; a foot support is arranged below the shank connecting rod, and an ankle joint is arranged between the foot support and the shank connecting rod;
the hip joint and the knee joint adopt the power-assisted joints; the upper end of the shank connecting rod and the rotating shaft of the knee joint synchronously rotate, and the lower end of the thigh connecting rod is fixedly connected with the joint seat of the knee joint; the upper end of the thigh connecting rod and the rotating shaft of the hip joint rotate synchronously, and the lower end of the hip connecting piece is hinged with the joint seat of the hip joint.
Furthermore, a hinge seat is arranged on the joint seat of the hip joint, a hinge shaft perpendicular to the rotating shaft is arranged on the hinge seat, and the lower end of the hip connecting piece is in rotating fit with the hinge shaft.
Furthermore, the thigh connecting rod and the shank connecting rod are adjustable connecting rods with adjustable lengths, each adjustable connecting rod comprises thread sleeves located at two ends, a screw rod is arranged between the two thread sleeves, two external threads with opposite thread turning directions are arranged at two ends of the screw rod respectively, and two ends of the screw rod are in thread fit with the two thread sleeves respectively.
The invention further provides an assistance exoskeleton which comprises a waist connecting rod, wherein the assistance supporting legs are arranged below two ends of the waist connecting rod respectively, and the upper end of the hip connecting piece is fixedly connected with the waist connecting rod.
Furthermore, back support rods are respectively arranged above two ends of the waist connecting rod, and bending parts which are bent forwards and correspond to the shoulders of the human body are arranged at the upper ends of the back support rods.
Furthermore, a load bearing frame used for placing load bearing articles is arranged on the waist connecting rod and the two back supporting rods.
Furthermore, a pressure sensor used for detecting pressure applied to the foot support by the human body is arranged on the foot support, and a positioner used for detecting the rotating angle and the rotating acceleration of the rotating shaft relative to the driving wheel is arranged in the power-assisted joint.
The invention has the beneficial effects that:
according to the power-assisted joint, the rotation limiting structure is arranged between the rotating shaft and the driving wheel, so that the rotating shaft can rotate freely within the angle range limited by the rotation limiting structure, namely, a rotation allowance is reserved between the rotating shaft and the driving wheel, therefore, a user can utilize the leg part to drive the rotating shaft to rotate freely relative to the driving wheel in the starting stage, so that the walking data of the user can be obtained, the walking intention of the user can be predicted, and the power-assisted driving mechanism can be conveniently used for providing power assistance.
The clutch mechanism is arranged, the clutch mechanism is adopted to control transmission connection between the rotating shaft and the driving wheel, when the clutch insertion block extends forwards to enable the clutch insertion teeth to be inserted into the clutch insertion slots, the rotating shaft and the driving wheel rotate synchronously, and at the moment, the power mechanism enables the driving wheel to rotate to drive the rotating shaft to rotate so as to provide power assistance; when the assisting power is not needed, the clutch insert block retracts backwards to enable the clutch gear to be separated from the clutch insert slot, and at the moment, the rotating shaft and the driving wheel are not in transmission connection, namely, the rotating shaft can rotate freely relative to the driving wheel. In addition, by arranging the clutch mechanism, when the power supply is used up for a long time, the clutch relationship can be utilized to ensure that no transmission connection relationship exists between the rotating shaft and the driving wheel, so that a user can continue to use the power-assisted joint without assistance, and the situation that the existing power-assisted joint obstructs the action of a human body instead of a complex transmission relationship is avoided.
According to the supporting leg, the hip joint and the knee joint are both rotary joints, so that the clutch mechanism can control the space between the thigh connecting rod and the shank connecting rod and the space between the thigh connecting rod and the hip connecting piece to receive assistance or freely rotate, walking and rotating allowances are arranged between the thigh connecting rod and the shank connecting rod and between the thigh connecting rod and the hip connecting piece, and a human body can easily drive the hip joint and the knee joint to move through the joint movement of the human body when starting.
According to the assistance exoskeleton, the two support legs are connected into a whole through the waist connecting rod, so that the technical purpose of providing assistance for loading and walking of a human body is achieved.
Through set up pressure sensor and helping hand joint in the shank supports and set up the locator, so, utilize pressure sensor real-time detection human foot to support the pressure size of applying to the shank, through the turned angle and the rotational acceleration of locator real-time detection pivot for the drive wheel, so, pressure data, turned angle data and the rotational acceleration data that utilize pressure sensor and locator to gather, can accurate prejudge human walking intention, and then provide the helping hand according to the human walking intention of prejudging.
Drawings
In order to make the object, technical scheme and beneficial effect of the invention more clear, the invention provides the following drawings for explanation:
FIG. 1 is a schematic structural view of an embodiment of a powered exoskeleton of the present invention;
FIG. 2 is detail A of FIG. 1;
FIG. 3 is a schematic structural view of a revolute joint;
FIG. 4 is a schematic structural view of a clutch mechanism;
FIG. 5 is a right side view of FIG. 4;
FIG. 6 is a cross-sectional view B-B of FIG. 5;
FIG. 7 is a perspective view of the clutch mechanism;
fig. 8 is a schematic structural diagram of the clutch insert.
1-a clutch seat; 2-a clutch chute; 3-a clutch insert; 4-a clutch spring; 5-a clutch cylinder; 6-a clutch limiting block; 7-a clutch mating block; 8-a clutch matching section; 9-clutch gear shaping; 10-a joint seat; 11-a rotating shaft; 12-a drive wheel; 13-clutch slot; 14-a worm; 15-a booster motor;
21-thigh link; 22-shank link; 23-hip connection; 24-hip joint; 25-knee joint; 26-foot support; 27-ankle joint; 28-a hinged seat; 29-articulated shaft; 30-thread sleeve; 31-a screw; 32-waist link; 33-back support bar; 34-bending part; 35-a weight bearing frame; 36-ankle joint rotation shaft.
Detailed Description
The present invention is further described with reference to the following drawings and specific examples so that those skilled in the art can better understand the present invention and can practice the present invention, but the examples are not intended to limit the present invention.
Fig. 1 is a schematic structural view of an embodiment of the assisted exoskeleton of the present invention. The assistance exoskeleton of the embodiment comprises a waist connecting rod 32, and assistance supporting legs are respectively arranged below two ends of the waist connecting rod 32. Specifically, the power-assisted support leg of the embodiment includes a thigh link 21 and a shank link 22. A hip connecting piece 23 is arranged above the thigh connecting rod 21, and a hip joint 24 is arranged between the hip connecting piece 23 and the thigh connecting rod; a knee joint 25 is arranged between the thigh connecting rod 21 and the shank connecting rod 22; a foot support 26 is provided below the lower leg link 22, and an ankle joint 27 is provided between the foot support 26 and the lower leg link 22.
Power joints are used for both hip joint 24 and knee joint 25. The power-assisted joint comprises a joint seat 10, wherein a rotating shaft 11 in rotating fit with the joint seat 10 and a power-assisted driving mechanism for driving the rotating shaft 11 to rotate relative to the joint seat 10 are arranged on the joint seat 10; the power-assisted driving mechanism comprises a driving wheel 12 sleeved outside the rotating shaft 11 and a power mechanism used for driving the driving wheel 12 to rotate. A rotation limiting structure for limiting the angle range of the rotating shaft 11 which can rotate freely relative to the driving wheel 12 is arranged between the rotating shaft 11 and the driving wheel 12.
The rotation limiting structure limiting mechanism can be realized in various ways, for example, the rotation limiting structure comprises an engaging groove arranged on the inner wall of the driving wheel 12, the rotating shaft 11 is provided with engaging teeth matched with the engaging groove, and the width of the engaging teeth is smaller than that of the engaging groove and enables the engaging teeth to move within the range limited by the engaging groove.
The clutch mechanism is provided between the rotating shaft 11 and the driving wheel 12. The clutching mechanism of this embodiment, include with 11 synchronous revolution's of pivot separation and reunion seats 1, be equipped with separation and reunion spout 2 in the separation and reunion seat 1, be equipped with separation and reunion inserted block 3 in the separation and reunion spout 2, be equipped with on the separation and reunion seat 1 and be used for driving separation and reunion inserted block 3 and stretch out forward or the separation and reunion actuating mechanism who retracts backward along separation and reunion spout 2, the front end of separation and reunion inserted block 3 of this embodiment is equipped with separation and reunion gear shaping 9, be equipped with on the inner wall of.
Specifically, after the clutch mechanism is arranged in this embodiment, the rotation limiting structure can be arranged between the clutch insert 3 and the clutch chute 2, and can also be arranged between the clutch gear shaping 9 and the clutch insert slot 13. When the rotation limiting structure is arranged between the clutch insert 3 and the clutch chute 2, the fit clearance between the clutch insert 3 and the clutch chute 2 gradually increases or gradually decreases towards the rear end along the front end of the clutch insert 3 and enables the clutch insert 3 to freely rotate in the limited range of the two side walls of the clutch chute 2 relative to the clutch seat 1, namely, the clutch mechanism of the embodiment sets the fit clearance between the clutch insert and the clutch chute to gradually increase or gradually decrease, so that the clutch insert can freely rotate in the limited range of the two side walls of the clutch chute relative to the clutch seat besides the translational motion of extension or retraction, namely, a walking rotation allowance is left in the clutch mechanism. When the rotation limiting structure is arranged between the clutch gear shaping 9 and the clutch slot 13, the width of the clutch gear shaping 9 is smaller than that of the clutch slot 13 and the clutch gear shaping 9 can move in the range limited by the clutch slot 13, so that the rotation 11 can rotate in the range limited by the clutch slot 13 relative to the driving wheel 12 due to the synchronous rotation of the clutch gear shaping 9 and the rotating shaft 11. The rotation limit structure of this embodiment can set up between separation and reunion inserted block 3 and separation and reunion spout 2, and is concrete, and separation and reunion inserted block 3 includes and cooperates section 8 with separation and reunion spout 2 complex separation and reunion, and the width of separation and reunion spout 2 is directed to the direction of rear end along the front end and is crescent or reduce gradually, and the width of separation and reunion cooperation section 8 equals with the minimum width of separation and reunion spout 2. The width of the clutch matching section 8 of the embodiment is always kept unchanged, the width of the clutch sliding groove 2 is gradually increased along the direction that the front end points to the rear end, namely the width of the front end of the clutch sliding groove 2 is equal to the width of the clutch matching section 8, the clutch matching section 8 can rotate relative to the matching point of the clutch matching section 8 and the front end of the clutch sliding groove 2 as a supporting point, and the rotating range is limited by the side walls on two sides of the clutch sliding groove 2.
In the power-assisted joint of the embodiment, the clutch mechanism is adopted to control the gradual transmission connection between the rotating shaft and the driving wheel, when the clutch insertion block extends forwards to enable the clutch insertion teeth to be inserted into the clutch insertion slots, the rotating shaft and the driving wheel rotate synchronously, and at the moment, the power mechanism enables the driving wheel to rotate to drive the rotating shaft to rotate so as to provide power assistance; when the assisting power is not needed, the clutch insert block retracts backwards to enable the clutch gear to be separated from the clutch insert slot, and at the moment, the rotating shaft and the driving wheel are not in transmission connection, namely, the rotating shaft can rotate freely relative to the driving wheel.
In the embodiment, the upper end of the shank link 22 rotates synchronously with the rotating shaft 11 of the knee joint 25, and the lower end of the thigh link 21 is fixedly connected with the joint seat 10 of the knee joint 25; the upper end of the thigh link 21 rotates synchronously with the rotating shaft 11 of the hip joint 24, and the lower end of the hip link 23 is hinged with the joint seat 10 of the hip joint 24. The power-assisted supporting leg of this embodiment, through all adopting the helping hand joint with hip joint and knee joint, so, can accept helping hand or free rotation between thigh connecting rod and the shank connecting rod and between thigh connecting rod and the hip connecting piece through clutch mechanism control, and have the walking and rotate the surplus when can accept the helping hand between thigh connecting rod and the shank connecting rod and between thigh connecting rod and the hip connecting piece, human body can easily drive hip joint and knee joint motion through its self joint motion when the start.
The upper end of the hip link 23 of this embodiment is fixedly connected to the waist link 32. The power-assisted exoskeleton of the embodiment connects the two power-assisted supporting legs into a whole through the waist connecting rod, so that the technical purpose of providing power assistance for loading and walking of a human body is achieved.
Further, the clutch driving mechanism comprises a clutch spring 4 which is arranged at the rear end of the clutch insert 3 and used for driving the clutch insert to extend forwards along the clutch chute 2, and a clutch cylinder 5 which is used for driving the clutch insert 3 to retract backwards and compressing the clutch spring 4 is arranged on the clutch seat 1. Specifically, the clutch cylinder 5 may be a hydraulic cylinder, an air cylinder or an electric cylinder, and the clutch cylinder 5 of this embodiment is an electric cylinder. Be equipped with separation and reunion stopper 6 on the telescopic link of separation and reunion jar 5, be equipped with the separation and reunion cooperation piece 7 that is located 6 rear sides of separation and reunion stopper on the separation and reunion inserted block 3, spacing cooperation between separation and reunion stopper 6 and the separation and reunion cooperation piece 7. Through setting up clutch spring 4 at the rear end of separation and reunion inserted block 3, when separation and reunion inserted block 3 stretches out but misalignment between separation and reunion gear shaping 9 and the separation and reunion slot 13, clutch spring 4 can make separation and reunion gear shaping 9 rotate for drive wheel 12 to the flexible force that clutch spring 4 applied to separation and reunion inserted block 3, makes separation and reunion gear shaping 9 can insert in separation and reunion slot 13 all the time, guarantees separation and reunion actuating mechanism's reliability. When the assisting force is not needed, the clutch cylinder 5 retracts, and the clutch insertion block 3 is driven to retract and compress the clutch spring 4 by utilizing the limit matching relation between the clutch limiting block 6 and the clutch matching block 7.
Further, the driving wheel 12 of the present embodiment adopts a worm wheel, and the power mechanism includes a worm 14 engaged with the worm wheel and a power-assisted motor 15 for driving the worm 14 to rotate. Of course, the driving wheel 12 may also be a gear, and the power mechanism includes a driving gear engaged with the gear and a power-assisted motor for driving the driving gear to rotate, which will not be described again.
Furthermore, the joint seat 10 of the hip joint 24 is provided with a hinge seat 28, the hinge seat 28 is provided with a hinge shaft 29 perpendicular to the rotating shaft 11, and the lower end of the hip connector 23 is in rotary fit with the hinge shaft 29, so that the power-assisted support leg can be opened or closed towards two sides of a human body relative to the hip connector 23.
Further, the thigh link 21 and the shank link 22 of the present embodiment each employ an adjustable link with an adjustable length. Specifically, adjustable connecting rod is equipped with screw rod 31 including the thread bush 30 that is located both ends between two thread bushes 30, and the both ends of screw rod 31 are equipped with two sections screw threads respectively and revolve to opposite external screw thread, and screw rod 31's both ends respectively with two thread bushes 30 between screw rod 31 screw-thread fit, rotate screw rod 31, can the distance of two thread bushes 30 of synchronous adjustment, and then realize the regulation to adjustable connecting rod length, make thigh connecting rod 21 and shank connecting rod 22 can be applicable to the people of different heights and shank length and use.
The ankle joint 27 of the present embodiment includes an ankle joint pivot 36, and the lower end of the lower leg link 22 is rotatably fitted to the ankle joint pivot 36. The foot support 26 is L-shaped, and one end of the foot support 26 is rotatably engaged with the ankle joint shaft 36, and the other end is a foot support for supporting the foot of the human body.
Further, a back support bar 33 is respectively disposed above two ends of the waist link 32, and a bent portion 34 bent forward and corresponding to the shoulder position of the human body is disposed at the upper end of the back support bar 33. Preferably, the waist link 32 and the two back support bars 33 of the present embodiment are provided with a load frame 35 for placing a load, and the load frame 35 is used for placing a load.
Further, a pressure sensor for detecting pressure applied to the foot support 26 by the human foot is provided in the foot support, and a positioner for detecting a rotation angle and a rotation acceleration of the rotary shaft 11 with respect to the drive wheel 12 is provided in the assistive joint. The pressure sensor of this embodiment is disposed on the foot support. Through set up pressure sensor on the shank supports and set up the locator in the helping hand joint, so, utilize pressure sensor real-time detection human foot to support the applied pressure size of shank, through the turned angle and the rotational acceleration of locator real-time detection pivot 11 for drive wheel 12, so, pressure data, turned angle data and the rotational acceleration data that utilize pressure sensor and locator to gather, can accurate prejudge human walking intention, and then provide the helping hand according to the human walking intention of prejudging.
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 (10)
1. A power-assisted joint, characterized by: the joint comprises a joint seat (10), wherein a rotating shaft (11) in rotating fit with the joint seat (10) and a power-assisted driving mechanism for driving the rotating shaft (11) to rotate relative to the joint seat (10) are arranged on the joint seat (10);
the power-assisted driving mechanism comprises a driving wheel (12) sleeved outside the rotating shaft (11) and a power mechanism for driving the driving wheel (12) to rotate; a rotation limiting structure used for limiting the angle range of the rotating shaft (11) which can rotate freely relative to the driving wheel (12) is arranged between the rotating shaft (11) and the driving wheel (12).
2. The power assist joint of claim 1, wherein: the rotation limiting structure comprises an engaging groove arranged on the inner wall of the driving wheel (12), the rotating shaft (11) is provided with engaging teeth matched with the engaging groove, and the width of the engaging teeth is smaller than that of the engaging groove and enables the engaging teeth to move within the range limited by the engaging groove.
3. The power assist joint of claim 1, wherein: a clutch mechanism is arranged between the rotating shaft (11) and the driving wheel (12); the clutch mechanism comprises a clutch seat (1) which synchronously rotates with the rotating shaft (11), a clutch sliding groove (2) is arranged in the clutch seat (1), a clutch insert block (3) is arranged in the clutch sliding groove (2), and a clutch driving mechanism for driving the clutch insert block (3) to extend forwards or retract backwards along the clutch sliding groove (2) is arranged on the clutch seat (1); the front end of separation and reunion inserted block (3) is equipped with separation and reunion gear shaping (9), be equipped with on the inner wall of drive wheel (12) with separation and reunion gear shaping (9) complex separation and reunion slot (13).
4. The power assist joint of claim 3, wherein: the rotation limiting structure is arranged between the clutch insert block (3) and the clutch chute (2), and a fit clearance between the clutch insert block (3) and the clutch chute (2) is gradually increased or decreased along the direction from the front end to the rear end of the clutch insert block (3) so that the clutch insert block (3) can freely rotate in a limited range of two side walls of the clutch chute (2) relative to the clutch seat (1); the clutch insert block (3) comprises a clutch matching section (8) matched with the clutch sliding chute (2), the width of the clutch sliding chute (2) is gradually increased or decreased along the direction from the front end to the rear end, and the width of the clutch matching section (8) is equal to the minimum width of the clutch sliding chute (2); or the like, or, alternatively,
the rotation limiting structure is arranged between the clutch gear shaping (9) and the clutch slot (13), and the width of the clutch gear shaping (9) is smaller than that of the clutch slot (13) and enables the clutch gear shaping (9) to move within the range limited by the clutch slot (13).
5. The power assist joint of claim 3, wherein: the clutch driving mechanism comprises a clutch spring (4) which is arranged at the rear end of the clutch insert block (3) and used for driving the clutch insert block to extend forwards along the clutch sliding groove (2), and a clutch cylinder (5) which is used for driving the clutch insert block (3) to retract backwards and compressing the clutch spring (4) is arranged on the clutch seat (1); be equipped with separation and reunion stopper (6) on the telescopic link of separation and reunion jar (5), be equipped with on the separation and reunion inserted block (3) and be located separation and reunion stopper (6) rear side's separation and reunion cooperation piece (7), separation and reunion stopper (6) with spacing cooperation between separation and reunion cooperation piece (7).
6. The utility model provides a helping hand supporting leg which characterized in that: comprises a thigh connecting rod (21) and a shank connecting rod (22);
a hip connecting piece (23) is arranged above the thigh connecting rod (21), and a hip joint (24) is arranged between the hip connecting piece (23) and the thigh connecting rod; a knee joint (25) is arranged between the thigh connecting rod (21) and the shank connecting rod (22); a foot support (26) is arranged below the lower leg connecting rod (22), and an ankle joint (27) is arranged between the foot support (26) and the lower leg connecting rod (22);
-the hip joint (24) and the knee joint (25) both employ a power-assisted joint according to claims 1-5; the upper end of the shank connecting rod (22) and the rotating shaft (11) of the knee joint (25) synchronously rotate, and the lower end of the thigh connecting rod (21) is fixedly connected with the joint seat (10) of the knee joint (25); the upper end of the thigh connecting rod (21) rotates synchronously with the rotating shaft (11) of the hip joint (24), and the lower end of the hip connecting piece (23) is hinged with the joint seat (10) of the hip joint (24).
7. The assist support leg of claim 6, wherein: the joint seat (10) of the hip joint (24) is provided with a hinge seat (28), the hinge seat (28) is provided with a hinge shaft (29) vertical to the rotating shaft (11), and the lower end of the hip connecting piece (23) is in rotating fit with the hinge shaft (29).
8. A power assisted support leg according to claim 6 or 7, wherein: thigh connecting rod (21) and shank connecting rod (22) all adopt adjustable connecting rod with adjustable length, adjustable connecting rod is including thread bush (30) that are located both ends, two be equipped with screw rod (31) between thread bush (30), the both ends of screw rod (31) are equipped with two sections screw threads respectively and revolve to opposite external screw thread, just the both ends of screw rod (31) respectively with two screw thread fit between thread bush (30).
9. A powered exoskeleton, comprising: the power-assisted support leg is characterized by comprising a waist connecting rod (32), wherein the power-assisted support leg according to any one of claims 6 to 8 is arranged below two ends of the waist connecting rod (32), and the upper end of the hip connecting piece (23) is fixedly connected with the waist connecting rod (32).
10. The powered exoskeleton of claim 9, wherein: the foot support (26) is provided with a pressure sensor for detecting pressure applied by the human foot to the foot support, and the power-assisted joint is internally provided with a positioner for detecting the rotating angle and the rotating acceleration of the rotating shaft (11) relative to the driving wheel (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010692994.3A CN111823267B (en) | 2020-07-17 | 2020-07-17 | Power-assisted joint, supporting leg and exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010692994.3A CN111823267B (en) | 2020-07-17 | 2020-07-17 | Power-assisted joint, supporting leg and exoskeleton |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111823267A true CN111823267A (en) | 2020-10-27 |
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| CN114571439A (en) * | 2022-03-15 | 2022-06-03 | 浙江工业大学 | Compact type joint braking lower limb assistance exoskeleton device |
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