CN113183131B - Exoskeleton robot ankle joint with double flexible driving branches - Google Patents
Exoskeleton robot ankle joint with double flexible driving branches Download PDFInfo
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- CN113183131B CN113183131B CN202110442728.XA CN202110442728A CN113183131B CN 113183131 B CN113183131 B CN 113183131B CN 202110442728 A CN202110442728 A CN 202110442728A CN 113183131 B CN113183131 B CN 113183131B
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 59
- 241000469816 Varus Species 0.000 claims abstract description 21
- 241001227561 Valgus Species 0.000 claims abstract description 20
- 210000002683 foot Anatomy 0.000 claims abstract description 15
- 230000009977 dual effect Effects 0.000 claims description 5
- 210000001503 joint Anatomy 0.000 abstract description 5
- 230000005484 gravity Effects 0.000 abstract description 4
- 210000001699 lower leg Anatomy 0.000 description 18
- 230000033001 locomotion Effects 0.000 description 14
- 210000003141 lower extremity Anatomy 0.000 description 9
- 210000003423 ankle Anatomy 0.000 description 4
- 230000007547 defect Effects 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 230000000452 restraining effect Effects 0.000 description 2
- 241000309551 Arthraxon hispidus Species 0.000 description 1
- 206010037714 Quadriplegia Diseases 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000004233 talus Anatomy 0.000 description 1
- 210000002303 tibia Anatomy 0.000 description 1
Classifications
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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
-
- 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- 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
- B25J17/00—Joints
-
- 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
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
- Prostheses (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of robots, and relates to an exoskeleton robot ankle joint with double flexible driving branches, which comprises a shank fixing block, a constraint branch, a foot bottom plate, a first driving branch and a second driving branch; the foot bottom plate is connected with the shank fixed block through the constraint branch, the first driving branch and the second driving branch are arranged on the shank fixed block, and the foot bottom plate is driven by the first driving branch and the second driving branch to realize dorsiflexion/plantarflexion and varus/valgus rotation. The exoskeleton robot ankle joint with the double flexible driving branches has two active degrees of freedom of dorsiflexion/plantarflexion and varus/valgus, the rotation centers of the two joints are highly coincident with the center of the ankle joint of a human body, the structural rigidity is high, the driving force is sufficient, the gravity center is high, and each driving unit is connected with an elastic element in series, so that flexible and safe power output of each joint can be realized.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to an exoskeleton robot ankle joint with double flexible driving branches.
Background
The lower limb exoskeleton is a wearable bionic robot similar to the lower limb structure of a human body, can assist a wearer to realize the functions of lower limb rehabilitation, assisting walking, enhancing load and the like, and has wide application prospects in the fields of rehabilitation, civilian use, military and the like. According to the research of the motion mechanism of the human body joint, the ankle joint is composed of a fork-shaped joint nest formed by a tibia lower joint surface, an inner ankle joint surface and an outer ankle joint surface and an ankle-shaped joint head of a talus, and can perform dorsiflexion/plantarflexion, varus/valgus and tiny internal rotation/external rotation motions around three rotation shafts, wherein the dorsiflexion/plantarflexion, varus/valgus two rotations are basic preconditions for guaranteeing the daily motions of the human body such as balance, walking, sitting and the like.
The self-balancing exoskeleton faces to a quadriplegia patient, and the motion capability of the lower limbs of the human body needs to be completely and biomimetically reconstructed, so that the motion requirements of the human body on the aspects of degrees of freedom, rotation center positions, rigidity and the like of all joints of the self-balancing exoskeleton need to be met, and each joint needs to be actively controllable.
The traditional exoskeleton ankle joint has the defects of small freedom degree, insufficient driving quantity, large tail end inertia and the like.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an exoskeleton robot ankle joint with double flexible driving branches, which has two active degrees of freedom of dorsiflexion/plantarflexion and varus/valgus, the rotation centers of the two joints are highly overlapped with the center of the ankle joint of a human body, the structural rigidity is high, the driving force is sufficient, the center of gravity is high, each driving unit is connected with an elastic element in series, and flexible and safe power output of each joint can be realized.
The technical scheme for solving the problems is as follows: an exoskeleton robot ankle joint with double flexible driving branches is characterized in that,
comprises a shank fixing block, a constraint branch, a foot bottom plate, a first driving branch and a second driving branch;
the foot bottom plate is connected with the shank fixed block through the constraint branch, the first driving branch and the second driving branch are arranged on the shank fixed block, and the foot bottom plate is driven by the first driving branch and the second driving branch to realize dorsiflexion/plantarflexion and varus/valgus rotation.
Further, the constraint branch comprises a left support frame, a right support frame and a cross shaft;
the left half shaft of the cross shaft, the left support frame and the first bearing form a left revolute pair, the right half shaft of the cross shaft, the right support frame and the second bearing form a right revolute pair, and the axes of the left revolute pair and the right revolute pair are overlapped with the axis of a dorsiflexion/plantarflexion rotating shaft. The rear half shaft of the cross shaft, the third bearing, the fourth bearing and the rear bearing support form a rear revolute pair, and the axis of the rear revolute pair is overlapped with the axis of the varus/valgus rotating shaft.
Further, the left support frame and the right support frame have the same structure. The left support frame is a tripod, the bottom edge of the tripod is fixed with the sole plate, and the vertex angle of the tripod is connected with the left half shaft of the cross shaft through a bearing.
Further, a first encoder is provided on the left support frame or the right support frame, and the first encoder is used for detecting the rotation angle of dorsiflexion/plantarflexion.
Further, a second encoder is provided on the rear bearing bracket, and the second encoder is used for detecting the rotation angle of varus/valgus.
Further, the first driving branch and the second driving branch have the same structure.
Further, the first driving branch comprises a driving mechanism, a moving pair, a first equivalent ball pair and a second equivalent ball pair;
the driving mechanism drives the moving pair to move, the first equivalent ball pair is connected with the moving pair, and the first equivalent ball pair is connected with the second equivalent ball pair through the elastic connecting rod.
Further, the driving mechanism is a motor with a code wheel, and the moving pair comprises a lead screw and a sliding block.
Further, the first equivalent ball pair has the same structure as the second equivalent ball pair.
Further, the first equivalent ball pair comprises a supporting frame, a cross shaft, a front mounting plate and a rear mounting plate,
an upper half shaft is arranged at the upper part of the support frame, the upper half shaft is connected with an inner ring of a fifth bearing to form a Z-axis direction revolute pair, an outer ring of the fifth bearing is connected with a bearing frame, and the bearing frame is connected with an output flange;
the left shaft and the right shaft of the cross shaft are respectively fixed on the support frame through bearings, the axes of the left shaft and the right shaft are in the Y-axis direction, the front mounting plate and the rear mounting plate are respectively connected with the front shaft and the rear shaft of the cross shaft through bearings, and the front shaft and the rear shaft of the cross shaft are X shafts.
The invention has the advantages that:
1) The patent designs a novel exoskeleton robot ankle joint device, wherein the ankle joint has two rotational degrees of freedom, each degree of freedom is an active degree of freedom, and dorsiflexion/plantarflexion rotation, varus/valgus rotation of the ankle joint of the lower limb of a human body can be reproduced in a bionic mode;
2) The designed ankle joint is characterized in that the dorsiflexion/plantarflexion rotation joint axis and the varus/valgus rotation axis are intersected at a point which can be adjusted to coincide with the center of the human ankle joint in practical application, and the design can realize the motion of the humanoid ankle joint without axis deviation;
3) The designed ankle joint is characterized in that the structure of the ankle joint is composed of two PSS driving branches with the same structure and one RR constraint branch with two degrees of freedom, so that the whole ankle joint forms a 2PSS-RR parallel mechanism on the mechanism, and the ankle joint has the advantages of high rigidity and high strength on the structure;
4) The designed ankle joint is characterized in that each driving branch is provided with a moving pair and two 3-degree-of-freedom equivalent ball pairs, wherein the moving pair is a driving pair driven by a motor, the two equivalent ball pairs are driven pairs, and the driven degree of freedom of the driving branch is 6, so that each driving branch can not restrict the sole plate, and the degree of freedom of relative movement between the sole plate 3 and the shank fixing block 1 is only determined by the restricting branch 2;
5) The designed ankle joint is characterized in that the weight of the mobile pair of each driving branch is higher than that of a passive equivalent ball pair due to the fact that the driving motor is contained in the mobile pair, the mobile pair with large weight is fixed at the upper end fixing hole position of the shank fixing block, so that the gravity center of the ankle joint is upward, and the foot bottom plate of a main moving part of the ankle joint can be light and low in inertia, and further the whole ankle joint has high dynamic characteristics;
6) The designed ankle joint is characterized in that two equivalent ball pairs of each driving branch are connected with each other by an elastic connecting rod, the elastic coefficient of the elastic connecting rod can be adjusted according to requirements, and the design enables the driving branch to become an elastic driving branch, so that the control flexibility, wearing safety and comfort of the ankle joint can be improved;
7) The ankle joint is designed to be characterized by a constraint branch 2 having two degrees of rotational freedom, dorsiflexion/plantarflexion rotation, varus/valgus rotation as described above. The two rotational degrees of freedom are both passive degrees of freedom, the rotational angle of each axis can be measured in real time by the encoder, and the measured two direction angle values are fed back to the two driving branches to realize closed-loop control, so that the problem of low control precision of the flexible driving branches can be solved.
Drawings
FIG. 1 is an overall block diagram of an ankle joint;
FIG. 2 is an exploded view of the overall ankle joint structure;
FIG. 3 is an exploded view of two rotationally constrained branched structures;
FIG. 4 is an exploded view of a drive branch structure;
FIG. 5 is an exploded view of a drive branch equivalent ball pair structure;
FIG. 6 is an ankle dorsiflexion view;
fig. 7 is an ankle plantar Qu Tu;
fig. 8 is an ankle varus view.
Fig. 9 is an ankle eversion.
Wherein:
1. a shank fixing block;
2. constraining the branches;
21. a cross axis; 22. a first bearing; 23. a left support frame; 24. a right support frame; 25. a second bearing; 26. a first encoder; 27. a third bearing; 28. a fourth bearing; 29. a rear bearing bracket; 210. a second encoder;
3. a foot sole plate;
4. a first drive branch;
41. a motor; 42. a screw rod; 43. a slide block; 44. an adapter plate; 45. the first equivalent ball pair; 46. an elastic connecting rod; 47. the second equivalent ball pair;
451. a support frame; 452. an output flange; 453. a bearing bracket; 454. a fifth bearing; 455. front baffle 456, sixth bearing 457, front mounting plate; 458. a rear baffle; 459. a seventh bearing; 4510. a rear mounting plate; 4511. a left baffle; 4512. an eighth bearing; 4513. a right baffle; 4514. a ninth bearing; 4515. a cross shaft;
5. and a second drive branch.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall within the scope of the present invention. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.
The invention relates to an exoskeleton robot ankle joint device with two rotational degrees of freedom, wherein the two rotational degrees of freedom of an ankle joint are all active driving degrees of freedom. As shown in fig. 1, the designed exoskeleton ankle joint can realize two rotational degrees of freedom (R pair) of varus/valgus and dorsiflexion/plantar flexion, and is characterized in that the rotational axis of varus/valgus and the rotational axis of dorsiflexion/plantar flexion are intersected at the center of the ankle joint of the lower limb of a human body, the design can highly restore the motion of the ankle joint of the human body, the problems of insufficient driving degree of freedom, deviation of the rotational center and the like of the conventional exoskeleton ankle joint are solved, and further the rehabilitation walking assisting motion compatible with human machines is realized.
As shown in fig. 2, an exoskeleton robot ankle joint with a dual flexible driving branch includes a shank fixing block 1, a constraint branch 2, a sole plate 3, a first driving branch 4 and a second driving branch 5; the foot sole plate 3 is connected with the shank fixing block 1 through the constraint branch 2, the first driving branch 4 and the second driving branch 5 are arranged on the shank fixing block 1, and the foot sole plate 3 is driven by the first driving branch 4 and the second driving branch 5 to realize dorsiflexion/plantarflexion and varus/valgus rotation.
Specifically, the shank fixed block 1 is a structure with a concave cross section, the constraint branch 2 has two rotational degrees of freedom, the foot bottom plate 3 is a light high-strength plate, and the first driving branch 4 and the second driving branch 5 comprise a driving moving pair, two passive equivalent ball pairs and a flexible connecting rod. The upper end of the constraint branch 2 is fixedly connected with the mounting hole at the lower end of the inner concave surface of the shank fixing block 1, and the lower end of the constraint branch 2 is fixedly connected with the mounting hole at the upper surface of the sole plate 3, so that the sole plate 3 can generate two-direction rotational degrees of freedom relative to the shank fixing block 1. The movable pair bases of the first driving branches 4 and 5 are fixedly connected with the mounting holes of the left rear position and the right rear position of the outer mounting surface of the shank fixing block 1 respectively, and the tail end equivalent ball pairs of the first driving branches 4 and 5 are fixedly connected with the left rear position and the right rear position of the sole plate 3. Since each driving branch has 6 passive degrees of freedom and 1 active degree of freedom, the driving branch does not create a motion constraint between the sole plate 3 and the calf-fixing block 1, but it can drive the two rotational degrees of freedom created by the constraint branch 2.
Preferably, the cross section of the shank fixing block 1 along the horizontal direction is concave, and the structure has the characteristics of light weight and high strength, so that the overall weight of the ankle joint can be reduced while the strength requirement is ensured. The concave structure can form a semi-closed cavity in space, is convenient for binding and fixing the lower limbs of the human body, and is provided with a mounting plane in three directions of left back, right back and right back, so that the fixed connection of the driving branch and the restraining branch is convenient. Mounting holes with different heights are designed on the left rear, right rear and right rear mounting surfaces of the shank fixing block 1 and can be used for adjusting the mounting heights of each driving branch and each constraint branch so as to adapt to human lower limbs with different sizes.
As a preferred embodiment of the present invention, the constraint branch 2 is shown in fig. 3, and has two rotational degrees of freedom, and the axis of each rotational degree of freedom is perpendicular, where the rotation axis of varus/valgus and the rotation axis of dorsiflexion/plantarflexion meet at point P, which in practical application can be adjusted to coincide with the center of ankle joint of the lower limb of the wearer. The cross shaft 21 of the restraining branch 2 is designed in a concave shape in order to form a semi-closed loop cavity for wrapping the heel of a human body. The left half axle of the cross axle 21 forms a left revolute pair with the left support frame 23 and the first bearing 22, while the right half axle of the cross axle 21 forms a right revolute pair with the right support frame 24 and the second bearing 25, and the axes of the left and right revolute pairs coincide with the axis of the dorsiflexion/plantarflexion rotating shaft. The left support frame 23 and the right support frame 24 are of tripod structures, the bottom edge of a tripod is fixed with the sole plate 3, and the vertex angle of the tripod is connected with the left half shaft of the cross shaft 21 through a bearing. The rear half shaft of the cross shaft 21 forms a rear revolute pair with the third bearing 27, the fourth bearing 28 and the rear bearing support 29, the axis of the rear revolute pair being coincident with the varus/valgus shaft axis.
Preferably, a first encoder 26 is fixed to the right support frame 24 for detecting the dorsiflexion/plantarflexion rotation angle. A second encoder 210 is fixed to the rear bearing bracket 29 for detecting the rotation angle of varus/valgus. Since the two first driving branches 4 and the second driving branch 5 both have elastic elements, it is impossible to ensure that the two rotary joints of the ankle joint are accurately driven under the condition of open loop control, and thus the angle values fed back by the first encoders 26 and 210 are used for closed loop control of the two driving branches, thereby ensuring accurate control of the two rotary joints. The left support frame 23 and the right support frame 24 are fixedly connected to corresponding mounting holes of the sole plate 3, and the rear bearing support 29 is fixed on the shank fixing block 1, so that the sole plate 3 can only rotate in two degrees of freedom relative to the shank fixing block 1 and cannot relatively move.
As a preferred embodiment of the invention, the first driving branches 4, 5 have the same structure, the first driving branch 4 comprising a driving mechanism, a shifting pair, a first equivalent ball pair 45 and a second equivalent ball pair 47; the driving mechanism drives the moving pair to move, the first equivalent ball pair 45 is connected with the moving pair, and the first equivalent ball pair 45 is connected with the second equivalent ball pair 47 through an elastic connecting rod 46.
Specifically, taking the first driving branch 4 as an example, as shown in fig. 4. The driving branch comprises a moving pair and two 3-degree-of-freedom equivalent ball pairs, and forms a PSS branch. The moving pair consists of a lead screw 42 and a sliding block 43 and is driven by a motor 41 with a code wheel, and the lower bottom surface of the lead screw 42 is fixedly connected to the corresponding mounting surface of the shank fixed block 1. The first equivalent ball pairs 45 and 47 with 3 degrees of freedom are connected end to end through an elastic connecting rod 46, wherein the first equivalent ball pair 45 is fixedly connected with the sliding block 43 through the adapter plate 44, and the second equivalent ball pair 47 is fixedly connected on the corresponding mounting hole site of the sole plate 3.
The first equivalent ball pairs 45 and 47 in the driving branch have the same structure, and the first equivalent ball pair 45 is shown in fig. 5, for example. The three rotation shafts X, Y, Z of the first equivalent ball pair 45 are perpendicular to each other and meet at a point. The upper half shaft of the supporting frame 451 is connected with the inner ring of the fifth bearing 454 to form a revolute pair in the Z-axis direction, the outer ring of the fifth bearing 454 is connected with the bearing bracket 453, and the output flange 452 is fixedly connected to the mounting hole of the bracket 453 for connecting the elastic connecting rod 46. The bearing 4512 is mounted on the hole of the left mounting plate of the support frame 451, the outer ring of which is fixed by the left baffle 4511, and the inner ring of which is sleeved with the left half shaft of the cross 4515 to form a left revolute pair. The ninth bearing 4514 is mounted on a hole on the right mounting plate of the support frame 451, the outer ring of which is fixed by the right baffle 4513, and the inner ring of which is sleeved with the right half shaft of the cross 4515 to form a right revolute pair. The axes of the left and right revolute pairs are mutually overlapped with the Y axis. The sixth bearing 456 is sleeved in the hole site of the front mounting plate 457, the outer ring of the sixth bearing 456 is fixed by the front baffle 455, and the inner ring of the sixth bearing 456 is sleeved with the front half shaft of the cross shaft to form a front revolute pair. The seventh bearing 459 is sleeved in the hole of the rear mounting plate 4510, the outer ring of the seventh bearing 459 is fixed by the rear baffle 458, and the inner ring of the seventh bearing 459 is sleeved with the rear half shaft of the cross shaft to form a rear revolute pair. The axes of the front and rear revolute pairs are mutually overlapped with the X axis. The bottom surfaces of the front mounting plate 457 and the rear mounting plate 4510 are parallel to each other and are used for fixing corresponding hole sites on the sole plate 3.
The working principle of the invention is as follows:
when the motors of the first driving branch 4 and the driving branch 5 are started simultaneously, the sliding block 43 is driven by the lead screw 42 to move downwards or upwards simultaneously, and the sliding block 43 drives the sole plate 3 to rotate forwards and backwards by the equivalent ball pair and the elastic connecting rod 46, so that the ankle joint of the exoskeleton robot can realize dorsiflexion/plantarflexion rotation movement, as shown in fig. 6 and 7.
When the motors of the first driving branch 4 and the driving branch 5 are started simultaneously, and the two driving branches move in opposite directions, the sliding block 43 drives the foot bottom plate 3 to rotate left and right through the equivalent ball pair and the elastic connecting rod 46, so that the exoskeleton robot ankle joint realizes varus/valgus movement, as shown in fig. 8 and 9.
In order to improve the rigidity of the ankle joint and reduce the moment of inertia of a moving part, the invention adopts 2 driving branches with the same structure to drive 2 degrees of rotation freedom of the ankle joint. Each driving branch consists of a moving pair (P pair) and two end-to-end three-degree-of-freedom equivalent ball pairs (S pairs), wherein the moving pair is a driving pair, and the equivalent ball pairs are passive pairs. By arranging the mobile pair with larger mass at the upper end of the ankle joint, the gravity center position of the ankle joint can be improved, the motion inertia of the main motion part (sole plate) can be reduced, and the dynamic characteristic of the system can be improved. In addition, two three-degree-of-freedom equivalent ball pairs are connected by an elastic rod piece, so that the driving branch forms a flexible driving branch, the impact force from the sole of the foot can be absorbed, the wearing flexibility of the ankle joint can be improved, and the wearing safety and the wearing comfort of the exoskeleton robot are improved.
The exoskeleton ankle joint designed by the invention can be equivalent to a 2PSS-RR parallel mechanism in mechanism, wherein 2PSS represents two kinematic pair-ball pair driving branches distributed at left rear and right rear positions of an ankle joint foot sole plate, and RR represents a two revolute pair constraint branch. The ankle joint has the advantage of high rigidity and strength because the three branches can withstand the external force/moment applied to the ankle joint.
The foregoing description is only exemplary embodiments of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present invention, or direct or indirect application in other related system fields are included in the scope of the present invention.
Claims (5)
1. An exoskeleton robot ankle joint with double flexible driving branches, characterized in that:
comprises a shank fixing block (1), a constraint branch (2), a sole plate (3), a first driving branch (4) and a second driving branch (5);
the foot bottom plate (3) is connected with the shank fixing block (1) through the constraint branch (2), the first driving branch (4) and the second driving branch (5) are arranged on the shank fixing block (1), and the foot bottom plate (3) is driven by the first driving branch (4) and the second driving branch (5) to realize dorsiflexion/plantarflexion and varus/valgus rotation;
the first driving branch (4) and the second driving branch (5) have the same structure;
the first driving branch (4) comprises a driving mechanism, a moving pair, a first equivalent ball pair (45) and a second equivalent ball pair (47);
the driving mechanism drives the moving pair to move, the first equivalent ball pair (45) is connected with the moving pair, and the first equivalent ball pair (45) is connected with the second equivalent ball pair (47) through an elastic connecting rod (46);
the driving mechanism is a motor (41) with a code disc, and the moving pair comprises a lead screw (42) and a sliding block (43);
the first equivalent ball pair (45) and the second equivalent ball pair (47) have the same structure;
the first equivalent ball pair (45) comprises a supporting frame (451), a cross shaft (4515), a front mounting plate (457) and a rear mounting plate (4510),
an upper half shaft is arranged at the upper part of the supporting frame (451), the upper half shaft is connected with the inner ring of a fifth bearing (454) to form a Z-axis direction revolute pair, the outer ring of the fifth bearing (454) is connected with a bearing bracket (453), and the bearing bracket (453) is connected with an output flange (452);
the left and right shafts of the cross shaft (4515) are respectively fixed on the supporting frame (451) through bearings, the axes of the left and right shafts are in the Y-axis direction, the front mounting plate (457) and the rear mounting plate (4510) are respectively connected with the front and rear shafts of the cross shaft (4515) through bearings, and the front and rear shafts of the cross shaft (4515) are X-axes.
2. An exoskeleton robot ankle joint with dual flexible drive branches as claimed in claim 1, wherein:
the constraint branch (2) comprises a left support frame (23), a right support frame (24) and a cross shaft (21);
the left half shaft of the cross shaft (21) is arranged on the left support frame (23) through a bearing to form a left revolute pair, and the right half shaft of the cross shaft (21) is arranged on the right support frame (24) through a bearing to form a right revolute pair; the rear half shafts of the cross shafts (21) are mounted on a rear bearing bracket (29) through bearings to form a rear revolute pair.
3. An exoskeleton robot ankle joint with dual flexible drive branches as claimed in claim 2, wherein:
the left support frame (23) and the right support frame (24) have the same structure; the left support frame (23) is a tripod, the bottom edge of the tripod is fixed with the sole plate (3), and the vertex angle of the tripod is connected with the left half shaft of the cross shaft (21) through a bearing.
4. An exoskeleton robot ankle joint with dual flexible drive branches as claimed in claim 3, wherein:
the left support frame (23) or the right support frame (24) is provided with a first encoder (26), and the first encoder (26) is used for detecting the rotation angle of dorsiflexion/plantarflexion.
5. An exoskeleton robot ankle joint with dual flexible drive branches as claimed in claim 4, wherein:
the rear bearing support (29) is provided with a second encoder (210), and the second encoder (210) is used for detecting the rotation angle of varus/valgus.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110442728.XA CN113183131B (en) | 2021-04-23 | 2021-04-23 | Exoskeleton robot ankle joint with double flexible driving branches |
| PCT/CN2021/138028 WO2022222505A1 (en) | 2021-04-23 | 2021-12-14 | Exoskeleton robot ankle joint having dual flexible drive branch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN114129320B (en) * | 2021-12-02 | 2024-07-26 | 吉林大学 | Double-freedom-degree passive flexible artificial limb ankle joint based on parallel mechanism |
| CN117584169A (en) * | 2024-01-09 | 2024-02-23 | 哈尔滨工业大学 | Robot wrist joint |
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| WO2022222505A1 (en) | 2022-10-27 |
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