CN112438862A - Self-locking type bionic knee joint exoskeleton device - Google Patents
Self-locking type bionic knee joint exoskeleton device Download PDFInfo
- Publication number
- CN112438862A CN112438862A CN201910821199.7A CN201910821199A CN112438862A CN 112438862 A CN112438862 A CN 112438862A CN 201910821199 A CN201910821199 A CN 201910821199A CN 112438862 A CN112438862 A CN 112438862A
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- Prior art keywords
- knee joint
- knee
- self
- support rod
- thigh
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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
-
- 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
Abstract
The invention discloses a self-locking bionic knee joint exoskeleton device which comprises a driving mechanism (1), knee joint support rods (2), knee joint mechanisms (3) and a self-locking mechanism (4), wherein the knee joint mechanisms (3) are arranged between the knee joint support rods (2), the self-locking mechanism (4) is arranged between the knee joint mechanisms (3), the self-locking mechanism (4) is a four-bar mechanism, one end of an upper connecting rod is connected with a knee joint thigh support rod, the other end of the lower connecting rod is connected with a knee joint shank support rod, the driving mechanism (1) is connected with the knee joint thigh support rod of the knee joint support rods (2), and the driving mechanism (1) comprises a motor, and a harmonic reducer and a pulley block which are connected with the motor. The invention has the characteristics of simple and reliable structure, high transmission precision and strong bionic performance. Meanwhile, the device is light in weight, simple and easy to process, and can well assist the old with difficulty in moving the lower limbs to provide assistance.
Description
The technical field is as follows:
the invention relates to the technical field of medical rehabilitation instruments, in particular to a self-locking bionic knee joint exoskeleton device.
Background art:
along with the rapid development of society, the healthy living standard of people is continuously improved, China becomes a big aged population, the health and medical problems of old people are increasingly highlighted due to the continuous increase of the aged population, and the number of the old people with limb function decline caused by walking inconvenience, lower limb weakness, lower limb movement disorder and senile diseases is on a trend of increasing year by year, so that equipment suitable for assisting the people to complete daily work and life is urgently needed by the groups.
At present, the existing lower limb knee joint exoskeleton mostly adopts single-axis rotary motion to simulate the motion form of a human knee joint, and researches show according to the principles of ergonomics and bionics that the human knee joint is a pulley-shaped joint and usually shows the slippage of an instantaneous rotation center during motion, namely the rotary motion of multiple axes; however, due to the rigid structure, the size is large, and the exoskeleton structure of the knee joint seriously influences the wearing comfort of the patient and the exercise assisting effect of the exoskeleton structure on the wearer. Therefore, further improvements and improvements to knee exoskeleton are needed to improve patient comfort and adaptability.
The invention content is as follows:
the invention aims to assist the walking of lower limbs to be inconvenient, provide assistance for the old with difficult lower limb movement and solve partial negative influence caused by aging of population, and provides a self-locking bionic knee joint exoskeleton device which can effectively solve the problems of coupling and synchronism of the existing knee joint exoskeleton and human knee joints in the movement process, and the technical scheme of the invention is as follows:
a self-locking bionic knee joint exoskeleton device comprises a driving mechanism 1, a knee joint support rod 2, a knee joint mechanism 3 and a self-locking mechanism 4. The knee joint mechanism is characterized in that the knee joint mechanisms 3 are arranged between the knee joint support rods 2, the self-locking mechanisms 4 are arranged between the knee joint mechanisms 3, and the self-locking mechanisms 4 comprise four-bar mechanisms connected with each other. The driving mechanism 1 is connected and fixed with the upper end of a knee joint thigh supporting rod 201 of the knee joint supporting rod 2, and the driving mechanism 1 comprises a disc type motor 101 and a harmonic reducer 102 connected with the motor.
Furthermore, the knee joint support rod 2 comprises a knee joint thigh support rod 201, a knee joint calf support rod 202, a thigh fixing cover 203 and a calf fixing cover 204, the thigh support rod 201 and the calf support rod 202 of the knee joint support rod 2 are connected through a sliding groove, the thigh fixing cover 203 is fixed on the knee joint thigh support rod 201, and the calf fixing cover 204 is fixed on the knee joint calf support rod 202.
Further, the knee joint mechanism 3 comprises a knee joint thigh gear 301, a lock catch connecting rod 302 and a knee joint shank gear 303, the knee joint thigh gear 301 and the knee joint shank gear 303 are connected through a pin shaft and are meshed with each other, the lock catch connecting rod 302 is fixed on a connecting pin shaft of the knee joint thigh gear 301 and the knee joint shank gear 303 and is connected through a self-locking mechanism 4 to form a four-bar mechanism, and the two can rotate around the connecting shaft.
Further, the self-locking mechanism 4 comprises an upper link 401, a lower link 402 and a link shaft 403, wherein one end of the upper link 401 is axially connected with the knee joint thigh support rod 201 and the knee joint thigh gear 301, one end of the lower link 402 is axially connected with the knee joint shank support rod 202 and the knee joint shank gear 303, and the upper link 401 and the lower link 402 are connected through the link shaft 403.
Further, the driving mechanism 1 further includes a belt 103 and a pulley block 104, the pulley block 104 is disposed at one side of the motor 101 and the harmonic reducer 102, and the pulley block 104 is connected to a knee joint thigh supporting rod 201 of the knee joint supporting rod 2.
The invention has the beneficial effects that: the invention has the characteristics of simple and reliable structure, high transmission precision and strong bionic performance, and can well improve the coupling and the synchronism of the knee exoskeleton and the human knee joint in the motion process by adopting the multi-axis gear meshing knee joint mechanism and the four-bar self-locking mechanism. Meanwhile, the device is light in weight, simple and easy to process, and can well assist the old with difficulty in moving the lower limbs to provide assistance.
Description of the drawings:
FIG. 1 is a schematic structural view of the present invention, wherein FIG. 1-1 is a still view, and FIG. 1-2 is a motion view;
FIG. 2 is a schematic diagram of FIG. 1 with the structure broken away;
FIG. 3 is a schematic view of the drive mechanism of the present invention;
FIG. 4 is a schematic view of the knee brace of the present invention;
FIG. 5 is a schematic view of a knee joint mechanism of the present invention;
FIG. 6 is a schematic view of a self-locking mechanism of the present invention;
wherein 1-a drive mechanism; 2-knee joint support bar; 3-knee joint mechanism; 4-self-locking mechanism, 101. disc type motor; 102. a harmonic reducer; 103. a belt; 104. pulley block, 201, knee joint thigh bracing piece; 202. knee joint shank bracing pieces; 203. a thigh securing cover; 204. a shank fixing cover 301, a knee joint thigh gear; 302. a locking connecting rod; 303. knee joint lower leg gear, 401 upper link; 402. a lower connecting rod; 403. a link shaft.
The specific implementation mode is as follows:
set up between the knee joint bracing piece 2 knee joint mechanism 3, knee joint mechanism 3 with through round pin hub connection between the knee joint bracing piece 2, self-locking mechanism 4 is including connecting four-bar linkage each other, the one end of going up connecting rod 401 and knee joint thigh bracing piece 201 and knee joint thigh gear 301 axial connection, the one end and knee joint shank bracing piece 202 and knee joint shank gear 303 axial connection of lower connecting rod 402, actuating mechanism 1 with knee joint thigh bracing piece 201 of knee joint bracing piece 2 is connected.
The thigh fixing cover 203 of the knee joint supporting rod 2 is mainly used for fixing the knee joint exoskeleton structure and the thighs of the human body through binding bands, supporting the thighs of the human body and achieving interaction with the thighs of the human body.
The knee joint support rod 2 shank fixing cover 204 is mainly used for fixing the knee joint exoskeleton structure and the shank of a human body through a binding band, so as to support the shank of the human body and realize the interaction with the shank of the human body.
The knee joint mechanism 3 comprises a knee joint thigh gear 301, a lock catch connecting rod 302 and a knee joint shank gear 303, the knee joint thigh gear 301 and the knee joint shank gear 303 are connected through a pin shaft and are meshed with each other, the lock catch connecting rod 302 is fixed on a connecting pin shaft of the knee joint thigh gear 301 and the knee joint shank gear 303, and the lock catch connecting rod is a connecting rod with 2 grooves.
As shown in fig. 3, the driving mechanism 1 includes a motor 101, a harmonic reducer 102 connected to the motor, a belt 103, and a pulley block 104, the motor 101 is disposed on an outer side of the harmonic reducer 102, an inner side of the harmonic reducer 102 is connected to the pulley block 104, and the motor 101, the harmonic reducer 102 connected to the motor, and the pulley block 104 are axially connected by a connecting shaft. The driving mechanism 1 is mainly used for providing power for the whole knee joint exoskeleton mechanism and driving the whole knee joint exoskeleton mechanism to drive the human knee joint area to realize bending/stretching actions.
As shown in fig. 4, the knee joint support rod 2 includes a knee joint thigh support rod 201, a knee joint calf support rod 202, a thigh fixing cover 203, and a calf fixing cover 204, the knee joint thigh support rod 201 and the knee joint calf support rod 202 of the knee joint support rod 2 are connected by a sliding groove, the thigh fixing cover 203 is fixed on the knee joint thigh support rod 201, and the calf fixing cover 204 is fixed on the knee joint calf support rod 202.
As shown in fig. 5, the knee joint mechanism 3 includes a knee joint thigh gear 301, a latch link 302, and a knee joint shank gear 303, the knee joint thigh gear 301 and the knee joint shank gear 303 are connected by a pin and engaged with each other, the latch link 302 is fixed on a connecting pin of the knee joint thigh gear 301 and the knee joint shank gear 303, and connected by a self-locking mechanism 4 to form a four-bar mechanism, and both can rotate around the connecting shaft. The locking link 302 is embodied as a link with 2 grooves. The pin shaft connecting piece is connected with the knee joint thigh gear 301 through one pin shaft, the other pin shaft is connected with the knee joint shank gear 303, and then the lock catch connecting rod 302 is connected with the two pin shafts, so that the axial positioning of each part of the knee joint structure is realized.
As shown in fig. 6, the self-locking mechanism 4 is a four-bar linkage mechanism connected to each other, and includes an upper link 401, a lower link 402, and a link shaft 403, wherein one end of the upper link 401 is axially connected to the knee thigh support bar 201 and the knee thigh gear 301, one end of the lower link 402 is axially connected to the knee calf support bar 202 and the knee calf gear 303, and the upper link 401 and the lower link 402 are connected by the link shaft 403. The disc motor 101 of the driving mechanism 1 provides kinetic energy, and the flexspline of the harmonic reducer 102 outputs force and torque to further drive the knee joint lower leg gear 303 to rotate, so that the knee joint lower leg gear 303 drives the lower connecting rod 402 to further drive the knee joint lower leg supporting rod 202 to act, and finally, the bending/stretching action of the whole knee joint exoskeleton mechanism is realized.
The position of the joint rotation center of the knee joint exoskeleton changes along the direction of tooth-shaped meshing, so that multi-center rotary motion is realized, and the movement characteristics of the human knee joint are better adapted.
In conclusion, the invention has the characteristics of simple and reliable structure, high transmission precision and strong bionic performance. Meanwhile, the device is light in weight, simple and easy to process, and can well assist the old with difficulty in moving the lower limbs to provide assistance.
Claims (6)
1. A self-locking bionic knee joint exoskeleton device comprises a driving mechanism (1), a knee joint support rod (2), a knee joint mechanism (3) and a self-locking mechanism (4). The knee joint mechanism is characterized in that the knee joint mechanisms (3) are arranged between the knee joint support rods (2), the self-locking mechanisms (4) are arranged between the knee joint mechanisms (3), each self-locking mechanism (3) comprises four-bar mechanisms which are connected with each other, the driving mechanism (1) is fixedly connected with the upper ends of knee joint thigh support rods 201 of the knee joint support rods (2), and the driving mechanism (1) comprises a disc type motor 101 and a harmonic reducer 102 connected with the motor.
2. The self-locking bionic knee exoskeleton device as claimed in claim 1, wherein the knee joint support rod (2) comprises a knee joint thigh support rod 201, a knee joint shank support rod 202, a thigh fixing cover 203 and a shank fixing cover 204, the knee joint thigh support rod 201 and the shank support rod 202 of the knee joint support rod (2) are connected through a sliding groove, the thigh fixing cover 203 is fixed on the knee joint thigh support rod 201, and the shank fixing cover 204 is fixed on the knee joint shank support rod 202.
3. The self-locking bionic knee exoskeleton device as claimed in claim 1, wherein the knee mechanism (3) comprises a knee thigh gear 301, a latch link 302 and a knee shank gear 303, the knee thigh gear 301 and the knee shank gear 303 are connected and meshed with each other through a pin, the latch link 302 is fixed on a connecting pin of the knee thigh gear 301 and the knee shank gear 303, and connected through a self-locking mechanism (4) to form a four-bar mechanism, and both can rotate around the connecting shaft.
4. The self-locking bionic knee exoskeleton device as claimed in claim 3, wherein the self-locking mechanism (4) is a four-bar linkage mechanism comprising an upper link 401, a lower link 402 and a link shaft 403, one end of the upper link 401 is axially connected with the knee thigh support rod 201 and the knee thigh gear 301, one end of the lower link 402 is axially connected with the knee calf support rod 202 and the knee calf gear 303, and the upper link 401 and the lower link 402 are connected through the link shaft 403.
5. The self-locking bionic knee exoskeleton device as claimed in claim 1, wherein the knee support rod (2) and the knee mechanism (3) are connected through a pin, and the knee mechanism (3) and the self-locking mechanism (4) are connected through a connecting piece shaft and a pin.
6. The self-locking bionic knee exoskeleton device as claimed in claim 1, wherein the driving mechanism (1) further comprises a belt 103 and a pulley block 104, the belt 103 is connected with the pulley block 104, and the pulley block 104 is disposed on a knee thigh support bar 201 of the knee support bar (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910821199.7A CN112438862A (en) | 2019-09-02 | 2019-09-02 | Self-locking type bionic knee joint exoskeleton device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910821199.7A CN112438862A (en) | 2019-09-02 | 2019-09-02 | Self-locking type bionic knee joint exoskeleton device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112438862A true CN112438862A (en) | 2021-03-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910821199.7A Pending CN112438862A (en) | 2019-09-02 | 2019-09-02 | Self-locking type bionic knee joint exoskeleton device |
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| Country | Link |
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| CN (1) | CN112438862A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114102562A (en) * | 2021-12-01 | 2022-03-01 | 长春工业大学 | Bionic knee-ankle joint assistance exoskeleton device |
-
2019
- 2019-09-02 CN CN201910821199.7A patent/CN112438862A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114102562A (en) * | 2021-12-01 | 2022-03-01 | 长春工业大学 | Bionic knee-ankle joint assistance exoskeleton device |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20210305 |
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| WD01 | Invention patent application deemed withdrawn after publication |