CN113478466B - Passive lower limb exoskeleton with load conduction and walking energy conservation functions - Google Patents
Passive lower limb exoskeleton with load conduction and walking energy conservation functions Download PDFInfo
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- CN113478466B CN113478466B CN202110836544.1A CN202110836544A CN113478466B CN 113478466 B CN113478466 B CN 113478466B CN 202110836544 A CN202110836544 A CN 202110836544A CN 113478466 B CN113478466 B CN 113478466B
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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
Abstract
The invention discloses a passive lower limb exoskeleton with load conduction and walking energy conservation; mainly comprises the following steps: a waist-securing component, a hip-articulation component, a knee-articulation component and an ankle-articulation component, and a connection therebetween; the invention belongs to an enhanced passive lower limb exoskeleton, which can support a weight carried by a shoulder of a person and directly conduct the load to the ground, so that the fatigue of the person in the process of loading the load is reduced. Meanwhile, the enhanced passive lower limb exoskeleton collects energy which is required to be lost in the natural motion process of a human body by means of the arranged elastic element and releases the energy when appropriate, so that the energy consumption of the human body in the walking process is reduced. In addition, the exoskeleton has a simple structure and light weight, and has high reliability and good portability.
Description
Technical Field
The invention relates to the technical field of exoskeletons, in particular to a passive lower limb exoskeletons with load conduction and walking energy conservation.
Background
Exoskeleton, the term "biologically derived," refers to a rigid external structure that provides support and protection for living things such as insects, similar to skeletal action. The exoskeleton can play three roles of supporting, assisting movement and protecting. Human exoskeleton has different classification methods according to the characteristics of realizing functions, power sources and the like. Human exoskeletons can be classified into human body performance enhancement type (enhancement type for short), disabled person auxiliary type (auxiliary type for short) and rehabilitation type (rehabilitation type for short) according to the realization functions. And can be divided into an active exoskeleton and a passive exoskeleton according to whether external power driving exists or not.
The active exoskeleton needs an external power source, which means that if the active exoskeleton does not carry energy storage equipment such as a battery and an energy conversion device, namely, is externally connected with the whole set of power device, the movable range of the exoskeleton is greatly limited, so that the functions of the active exoskeleton are limited; if the energy storage device is carried, an energy storage and conversion device is required to be added on the exoskeleton, but the device is large in size and heavy in weight, so that the size and the quality of the active exoskeleton are generally difficult to control well, and portability is poor. Meanwhile, the control algorithm of the active exoskeleton is complex, so that the control system is difficult to design. This also results in the general existence of complex structures, high prices, etc. for active exoskeletons.
In contrast, the passive exoskeleton is self-powered, so that no other external energy supply is required, which greatly reduces the exoskeleton mass. Meanwhile, the passive exoskeleton belongs to a passive device, and the exoskeleton is driven by a human body to move, so that a control system is not needed. Passive exoskeletons therefore have significant advantages in applications where cost control is critical, or portability is a requirement and range of motion is a requirement.
There are two typical modes of operation for the enhanced passive lower extremity exoskeleton: firstly, the force born by the human body due to the extra load is directly transmitted to the ground through a mechanical structure, so that the force born by the human body is reduced, the fatigue feeling in the process of loading the human body is reduced, and the load moving range of the human is enlarged; and secondly, energy which is supposed to be lost in the movement process is collected through the energy storage element and released when appropriate, so that the energy consumption of a person is reduced. However, the existing enhanced passive lower limb exoskeleton has a design with two functions of load conduction and walking energy conservation. In addition, their adjustability is generally poor. The lack of adjustability of existing designs makes it difficult to accommodate every user with widely varying physiological parameters. And their boosting effect is usually not remarkable, and flexibility and wearing comfort are also to be improved.
Disclosure of Invention
The invention aims to overcome the defects and the shortcomings of the prior art and provide the passive lower limb exoskeleton which has the advantages of simple structure, flexible movement and load conduction and walking energy conservation. The invention belongs to an enhanced passive lower limb exoskeleton, which can support a weight carried by a shoulder of a person and directly conduct the load to the ground, so that the fatigue of the person in the process of loading the load is reduced. Meanwhile, the enhanced passive lower limb exoskeleton collects energy which is required to be lost in the natural motion process of a human body by means of the arranged elastic element and releases the energy at proper time, so that the energy consumption of the human body in the walking process is reduced.
The invention has simple structure, light weight, high reliability and good portability.
The invention is realized by the following technical scheme:
a passive lower extremity exoskeleton with both load conduction and walking energy conservation, comprising:
a waist fixing component 1, a hip joint moving component 2, a knee joint moving component 3 and an ankle joint moving component 4;
the waist fixing member 1 includes: a waist bandage 11 for binding the waist, a waist cross bar 111 and waist side connecting rods 12 respectively symmetrically fixed at both ends of the waist cross bar 111;
the waist bandage 11 is connected to the end of the waist rail 111 for forming a waist circumference with the waist rail 111 to integrally fasten the waist fixing member 1 to the waist;
one end of the hip joint movable assembly 2 is connected with the waist side connecting rod 12 of the waist fixing assembly 1, and the other end is connected with the upper part of the thigh supporting rod 55;
the hip joint moving assembly 2 is used for realizing the flexion or extension freedom degree movement between the waist and the thigh support bar 55;
one end of the knee joint moving component 3 is connected with the lower part of the thigh supporting rod 55, and the other end is connected with the upper part of the shank supporting rod 66;
the knee joint moving component 3 is used for realizing the flexion or extension freedom degree movement between the thigh supporting rod 55 and the shank supporting rod 66;
one end of the ankle movable assembly 4 is connected with the lower part of the shank support rod 66, and the other end is connected with the foot plate 78 through the foot plate support rod 77;
the ankle joint movement assembly 4 is used for realizing the flexion or extension freedom degree movement between the shank support rod 66 and the foot plantar support rod 77.
The hip joint movement assembly 2 includes: a hip joint bearing 21, a hip joint bearing sleeve 22, a hip joint connecting rod 23, a hip joint shaft 24;
the hip joint bearing sleeve 22 is arranged at the lower part of the waist side connecting rod 12;
the hip joint shaft 24 is arranged on the upper side of the hip joint connecting rod 23;
the hip joint bearing 21 is nested inside the hip joint bearing sleeve 22; the hip joint shaft 24 is inserted into the shaft hole of the hip joint bearing 21, and then the lower part of the hip joint connecting rod 23 is connected to the upper part of the thigh supporting rod 55, so that the connection, buckling or stretching freedom degree movement with the waist and the thigh is realized;
in order to limit the movement of the hip joint to the extreme flexion or extension position, three limit projections are provided on the respective faces of the lower side wall of the lumbar side link 12 and the upper side wall of the hip joint link 23, wherein:
the first limit bulge 25 is positioned above the hip joint bearing sleeve 22;
the second limiting protrusion 26 and the third limiting protrusion 27 are distributed on the upper side and the lower side of the hip joint shaft 24;
when the extending movement of the hip joint reaches the limit position, the first limit protrusion 25 and the third limit protrusion 27 are abutted with each other; when the flexion movement of the hip joint reaches the extreme position, the first limit projection 25 will abut against the second limit projection 26.
The knee joint moving assembly 3 includes: knee joint bearing sleeve 31, knee joint bearing 32, knee joint shaft 33, knee joint thigh connecting rod 34, knee joint shank connecting rod 35;
the knee joint bearing sleeve 31 is arranged at the upper part of the knee joint shank connecting rod 35;
the knee joint shaft 33 is provided at the lower side of the knee joint thigh link 34;
the knee joint bearing 32 is nested inside the knee joint bearing sleeve 31; the knee joint shaft 33 is embedded into the shaft hole of the knee joint bearing 32, the knee joint thigh connecting rod 34 is connected to the lower part of the thigh supporting rod 55, and the knee joint shank connecting rod 35 is connected to the upper part of the shank supporting rod 66, so that the connection, buckling or stretching freedom degree movement with the thigh and the shank is realized;
in order to limit the movement of the knee joint to the extreme flexion or extension position, extension limit posts 36 and flexion limit posts 37 are provided at the radial positions of the knee joint bearings 32 inside the knee joint thigh link 34, respectively; an extension stopper 361 and a flexion stopper 371 are provided on the knee-joint bearing sleeve 31 side of the knee-joint lower leg link 35, respectively;
when the knee joint extends to the limit position, the extending limit post 36 will abut against the extending stop 361; when the flexion movement of the knee reaches the extreme position, the flexion limiting posts 37 will abut each other with the flexion stops 371.
The knee joint moving component 3 further comprises an energy storage component: torsion spring 38, first torsion spring arm fixing post 381, second torsion spring arm fixing post 382;
the first torsion spring arm fixing post 381 and the second torsion spring arm fixing post 382 are respectively and correspondingly arranged on the side walls of the knee joint thigh connecting rod 34 and the knee joint shank connecting rod 35;
the knee joint shaft 33 is provided with two stepped shafts with different diameters, wherein a first stepped shaft is used for fixing the knee joint bearing 32, and a second stepped shaft 331 extends out of the side hole of the knee joint bearing sleeve 31; the torsion spring 38 is sleeved on the second step shaft 331; wherein, two arms of the torsion spring 38 are respectively embedded into the positioning clamping holes 3811, 3821 at the end parts of the first torsion spring arm fixing column 381 and the second torsion spring arm fixing column 382.
The ankle joint movement assembly 4 includes: ankle bearing sleeve 41, ankle shaft 42, ankle bearing 43, ankle shank connecting rod 44, foot plantar support rod 77, foot plantar plate 78, coil spring 45;
the ankle joint bearing sleeve 41 is arranged at the lower end of the ankle joint shank connecting rod 44;
the ankle joint shaft 42 is provided on the upper side of the foot sole support bar 77;
the foot plate 78 is arranged at the lower end of the foot support bar 77;
the ankle joint shaft 42 is an inner ring for sleeving an ankle joint bearing 43; the convex block 421 at the end part of the ankle joint shaft 42 is used for being installed into an inner ring sleeved with a coil spring 45; the ankle joint bearing 43 and the coil spring 45 are embedded in the ankle joint bearing sleeve 41; to achieve connection with the lower leg and foot, dorsiflexion or plantarflexion degree of freedom motions;
the end part of the inner ring of the coil spring 45 is clamped into a clamping groove formed in the protruding block 421, the end part of the outer ring of the coil spring 45 is in a hook-shaped structure, and the hook-shaped structure is buckled into a groove 422 formed in the inner peripheral wall of the ankle joint bearing sleeve 41;
to limit movement of the ankle joint to the extreme dorsiflexion or plantar flexion position, the ankle joint movement assembly 4 further includes three ankle joint stop posts, wherein a first ankle joint stop post 423 is provided on a side edge of the ankle joint bearing sleeve 41 furthest from the ankle joint shank connecting rod 44, and a second ankle joint stop post 424 and a third ankle joint stop post 425 are symmetrically distributed on a lower side wall of the ankle joint shaft 42;
when dorsiflexion movement of the ankle reaches the limit position, the first ankle stop post 423 will abut the second ankle stop post 424; when the plantar flexion movement of the ankle reaches the extreme position, the first ankle stop post 423 will abut the third ankle stop post 425.
The waist fixing component 1 further comprises a supporting plate 13 for bearing weight, wherein the supporting plate 13 is fixed on the waist side connecting rod 12 through a connecting piece 14; when a person carries a weight, the weight is carried by the pallet 13, causing the weight load to be transferred to the exoskeleton.
The thigh support bar 55 includes: an upper thigh link 551 and a lower thigh link 552;
a plurality of positioning holes for adjusting the overall length of the thigh support bar 55 are distributed at intervals in the length direction of the upper thigh link 551 and the lower thigh link 552; when the upper thigh link 551 and the lower thigh link 552 overlap, fastening connection of the upper thigh link 551 and the lower thigh link 552 is achieved by bolts passing through the positioning holes corresponding to each other;
the shank support bar 66 includes: upper and lower calf links 661 and 662;
the upper and lower calf links 661 and 662 are identical in structure to the thigh support bar 55.
Three convex bushings 79 are provided on the inner sides of the lower thigh link 552, the upper shank link 661, and the lower shank link 662, respectively; a sheath 80 is fixed on each convex liner 79;
when the leg portion of the human body is inserted into the sheath 80, the convex liner 79 is used for indirectly isolating the outer side of the leg portion of the human body from the thigh support bar 55 and the shank support bar 66 through point contact, so as to prevent the contact friction between the outer side of the leg portion of the human body and the thigh support bar 55 and the shank support bar 66.
The forefoot strap 81 and the rearfoot strap 82 are arranged on the plantar plate 78, and the forefoot strap 81 is of two open magic tape connecting structures; the hindfoot strap 82 is a closed semi-circular ring-like structure.
The thigh support bar 55 and the shank support bar 66 are both plate-shaped structures; reinforcing ribs are arranged at the edges of the plate-shaped structures; the supporting plate 13 is of a frame structure.
Compared with the prior art, the invention has the following advantages and effects:
in addition to the connection through the bearing, in order to limit the movement of the hip joint to the limit buckling or stretching position, three limit bulges are respectively arranged on the corresponding surfaces of the lower side wall of the waist-side connecting rod and the upper side wall of the hip joint connecting rod, and the first limit bulge is positioned above the hip joint bearing sleeve; the second limiting bulge and the third limiting bulge are distributed on the upper side and the lower side of the hip joint shaft; when the extending movement of the hip joint reaches the limit position, the first limit bulge and the third limit bulge are mutually abutted; when the flexion movement of the hip joint reaches the limit position, the first limit bulge and the second limit bulge are mutually abutted, so that when the hip joint of the human body moves to the limit flexion or extension position, the protection of the hip joint of the human body is improved, and the effects of reducing load and conducting load are improved.
In order to limit the knee joint to a limit buckling or stretching position when the knee joint moves except that the knee joint moving assembly is connected through the bearing, a stretching limit column and a buckling limit column are respectively arranged at the radial position of a knee joint bearing at the inner side of a knee joint thigh connecting rod; an extension stop part and a buckling stop part are respectively arranged on the knee joint bearing sleeve side of the knee joint shank connecting rod; when the extension movement of the knee joint reaches the limit position, the extension limiting column is mutually abutted with the extension stop part; when the knee joint moves to the limit position, the buckling limiting columns are mutually abutted with the buckling stop parts, so that the protection of the knee joint of the human body is improved, and the effects of reducing load and conducting load are improved when the knee joint of the human body moves to the limit buckling or stretching position.
The knee joint movable component is provided with an energy storage component, the core component of the energy storage component is only a torsion spring, and energy which is required to be lost in the natural motion process of a human body is skillfully collected through the organic combination of the energy storage component and each component of the knee joint, and the energy storage component is released at proper time, so that the energy consumption of a person in the walking process is reduced.
The ankle joint moving assembly further comprises three ankle joint stop posts for limiting the movement of the ankle joint to the limit dorsiflexion or plantarflexion position; when dorsiflexion movement of the ankle joint reaches an extreme position, the first ankle joint stop post is mutually abutted with the second ankle joint stop post; when the plantar flexion movement of the ankle joint reaches the limit position, the first ankle joint stop column and the third ankle joint stop column are mutually abutted, and the design structure also improves the protection of the ankle joint of a human body and the effect of reducing load and load conduction.
The ankle joint movable assembly of the present invention further comprises a coil spring which provides a booster effect when the human body moves. The torsional spring is ingenious to be connected with first and second torsional spring arm fixed column, and not only structural design is ingenious, has played better helping hand effect moreover, makes the leg relax more comfortablely when moving.
The invention is characterized in that convex liners are respectively arranged on thigh support rods and shank support rods; each convex lining is fixed with a sheath; after the human leg penetrates into the sheath, the convex lining has the function of indirectly isolating the outer side of the human leg from the thigh support rod and the shank support rod through point contact, so that the mutual contact friction between the outer side of the human leg and the thigh support rod and between the shank support rod is prevented, and the problem that the contact surface between the leg and the exoskeleton is too large during movement is effectively overcome, so that the movement is influenced.
The waist fixing component is provided with the supporting plate for bearing the weight, when a human body carries the weight, the weight is borne by the supporting plate, the weight load is transferred to the exoskeleton, and the weight load is directly transmitted to the ground, so that the fatigue of the human body in the loading process is reduced.
The thigh support rod and the shank support rod realize lap joint and length adjustment through the positioning holes and the bolts on the thigh support rod and the shank support rod.
The invention has simple structure, ingenious conception, light weight, high reliability and good portability.
Drawings
Fig. 1 is a schematic diagram of the overall assembly structure of the passive lower limb exoskeleton of the present invention.
Fig. 2 is a schematic diagram of an exploded view of a hip joint component.
Fig. 3 is a schematic diagram of the exploded construction of a hip joint component.
Fig. 4 is a schematic view of an exploded view of a knee joint part.
Fig. 5 is a schematic diagram of an exploded view of a knee joint part.
FIG. 6 is a schematic view of an exploded view of an ankle component.
Fig. 7 is a schematic view of the ankle bearing sleeve.
Fig. 8 is a schematic diagram of an exploded construction of thigh support bar parts.
Fig. 9 is a schematic diagram of an exploded construction of the calf support bar part.
Figure 10 is a schematic view of an exploded view of the waist attachment assembly component.
FIG. 11 is a schematic view of an exploded view of a waist attachment assembly.
Detailed Description
The present invention will be described in further detail with reference to specific examples.
The invention discloses a passive lower limb exoskeleton with load conduction and walking energy conservation, which comprises: a waist fixing component 1, a hip joint moving component 2, a knee joint moving component 3 and an ankle joint moving component 4;
the waist fixing member 1 includes: a waist bandage 11 for binding the waist, a waist cross bar 111 and waist side connecting rods 12 respectively symmetrically fixed at both ends of the waist cross bar 111;
the waist bandage 11 is connected to the end of the waist rail 111 for forming a waist circumference with the waist rail 111 to integrally fasten the waist fixing member 1 to the waist;
the waist cross rod 111 is provided with a plurality of adjusting holes at intervals in the axial direction, and the waist side connecting rod 12 is fixed with the adjusting holes at different positions through bolts, so that the purpose of adapting to the waistline of a wearer is achieved.
One end of the hip joint movable assembly 2 is connected with the waist side connecting rod 12 of the waist fixing assembly 1, and the other end is connected with the upper part of the thigh supporting rod 55;
the hip joint moving assembly 2 is used for realizing the flexion or extension freedom degree movement between the waist and the thigh support bar 55;
one end of the knee joint moving component 3 is connected with the lower part of the thigh supporting rod 55, and the other end is connected with the upper part of the shank supporting rod 66;
the knee joint moving component 3 is used for realizing the flexion or extension freedom degree movement between the thigh supporting rod 55 and the shank supporting rod 66;
one end of the ankle movable assembly 4 is connected with the lower part of the shank support rod 66, and the other end is connected with the foot plate 78 through the foot plate support rod 77;
the ankle joint movement assembly 4 is used for realizing the flexion or extension freedom degree movement between the shank support rod 66 and the foot plantar support rod 77.
The hip joint movement assembly 2 includes: a hip joint bearing 21, a hip joint bearing sleeve 22, a hip joint connecting rod 23, a hip joint shaft 24;
the hip joint bearing sleeve 22 is arranged at the lower part of the waist side connecting rod 12;
the hip joint shaft 24 is arranged on the upper side of the hip joint connecting rod 23;
the hip joint bearing 21 is nested inside the hip joint bearing sleeve 22; the hip joint shaft 24 is inserted into the shaft hole of the hip joint bearing 21, and then the lower part of the hip joint connecting rod 23 is connected to the upper part of the thigh supporting rod 55, so that the connection, buckling or stretching freedom degree movement with the waist and the thigh is realized;
in order to limit the movement of the hip joint to the extreme flexion or extension position, three limit projections are provided on the respective faces of the lower side wall of the lumbar side link 12 and the upper side wall of the hip joint link 23, wherein:
the first limit bulge 25 is positioned above the hip joint bearing sleeve 22;
the second limiting protrusion 26 and the third limiting protrusion 27 are distributed on the upper side and the lower side of the hip joint shaft 24;
when the extending movement of the hip joint reaches the limit position, the first limit protrusion 25 and the third limit protrusion 27 are abutted with each other; when the flexion movement of the hip joint reaches the limit position, the first limit projection 25 will abut against the second limit projection 26; in the normal walking exercise state, they are not in contact with each other.
When the position of the thigh of the human body is observed from the frontal (coronal) plane, the thigh is not vertical to the ground; whereas the flexion/extension axis of motion of the hip joint is perpendicular to the ground. In order to make the exoskeleton more comfortable to wear, it is necessary to have a slight inclination of the thigh as a whole on the frontal (coronal) plane. Therefore, a certain inclination angle (2 to 3 degrees or 2 to 5 degrees) is formed between the contact surface of the hip joint link 23 and the upper thigh link 551 and the axis of the round hole for placing the hip joint bearing 21, so that the whole thigh can be inclined at an angle with the ground.
The knee joint moving assembly 3 includes: knee joint bearing sleeve 31, knee joint bearing 32, knee joint shaft 33, knee joint thigh connecting rod 34, knee joint shank connecting rod 35;
the knee joint bearing sleeve 31 is arranged at the upper part of the knee joint shank connecting rod 35;
the knee joint shaft 33 is provided at the lower side of the knee joint thigh link 34;
the knee joint bearing 32 is nested inside the knee joint bearing sleeve 31; the knee joint shaft 33 is embedded into the shaft hole of the knee joint bearing 32, the knee joint thigh connecting rod 34 is connected to the lower part of the thigh supporting rod 55, and the knee joint shank connecting rod 35 is connected to the upper part of the shank supporting rod 66, so that the connection, buckling or stretching freedom degree movement with the thigh and the shank is realized;
in order to limit the movement of the knee joint to the extreme flexion or extension position, extension limit posts 36 and flexion limit posts 37 are provided at the radial positions of the knee joint bearings 32 inside the knee joint thigh link 34, respectively; an extension stopper 361 and a flexion stopper 371 are provided on the knee-joint bearing sleeve 31 side of the knee-joint lower leg link 35, respectively;
when the knee joint extends to the limit position, the extending limit post 36 will abut against the extending stop 361; when the flexion movement of the knee reaches the extreme position, the flexion limiting posts 37 will abut each other with the flexion stops 371.
The knee joint moving component 3 further comprises an energy storage component: torsion spring 38, first torsion spring arm fixing post 381, second torsion spring arm fixing post 382;
the first torsion spring arm fixing post 381 and the second torsion spring arm fixing post 382 are respectively and correspondingly arranged on the side walls of the knee joint thigh connecting rod 34 and the knee joint shank connecting rod 35;
the knee joint shaft 33 is provided with two stepped shafts with different diameters, wherein a first stepped shaft is used for fixing the knee joint bearing 32, and a second stepped shaft 331 extends out of the side hole of the knee joint bearing sleeve 31; the torsion spring 38 is sleeved on the second step shaft 331; wherein, two arms of the torsion spring 38 are respectively embedded into the positioning clamping holes 3811, 3821 at the end parts of the first torsion spring arm fixing column 381 and the second torsion spring arm fixing column 382.
The torsion spring 38 is used as an energy storage element, and is mainly used for reducing walking energy consumption of a human body.
When the person is in the upright position, torsion spring 38 is in a relaxed state, exerting no force on the exoskeleton.
For either leg, torsion spring 38 is in a state of supporting phase consistent with its upright position, without exerting force on the exoskeleton. And in the early and middle phases of swing during walking, the angle between the thigh and the shank becomes smaller (from a flat angle to an obtuse angle), so that the angle between the two protruding ends of the torsion spring 38 becomes smaller. In the process, the torsion spring 38 deforms, and the moment generated by the torsion spring 38 is opposite to the direction of the change of the included angle between the big leg and the lower leg, so that impedance is generated for the change of the included angle between the big leg and the lower leg; at the same time, the process torsion spring 38 stores energy that would otherwise be lost during natural gait. At the end of the swing phase of the leg, the angle between the thigh and the calf becomes larger (from obtuse to flat) so that the angle between the two extended ends of the torsion spring 38 becomes larger and the torsion spring 38 gradually returns to a relaxed state. In the process, the direction of the moment generated by the torsion spring 38 is the same as the direction of the change of the included angle between the big leg and the small leg, and the moment is the driving force; at the same time, the energy stored in the initial phase and the phase of the swing phase is released to assist the user to walk.
The axis of the knee flexion/extension motion is parallel to the ground. In order to enhance the comfort of exoskeleton wear while flexion/extension movements at the knee joint can be performed normally, the contact surface of the knee joint thigh link 34 and the lower thigh link 552 is designed to have a certain inclination angle (2 ° to 3 ° or 2 ° to 5 °) with the axis of the circular hole in which the knee joint shaft 32 is placed. The inclination angle is equal to the inclination angle in the hip joint connecting rod 23, so that the axis of the hip joint and the axis of the knee joint of the exoskeleton are parallel to the ground during movement. In order to ensure a smooth mounting of the bolts when they are connected, the face of the knee thigh connecting rod 34 in contact with the nut is also inclined to the axis of the knee joint when it is in motion.
The ankle joint movement assembly 4 includes: ankle bearing sleeve 41, ankle shaft 42, ankle bearing 43, ankle shank connecting rod 44, foot plantar support rod 77, foot plantar plate 78, coil spring 45;
the ankle joint bearing sleeve 41 is arranged at the lower end of the ankle joint shank connecting rod 44;
the ankle joint shaft 42 is provided on the upper side of the foot sole support bar 77;
the foot plate 78 is arranged at the lower end of the foot support bar 77;
the ankle joint shaft 42 is an inner ring for sleeving an ankle joint bearing 43; the convex block 421 at the end part of the ankle joint shaft 42 is used for being installed into an inner ring sleeved with a coil spring 45; the ankle joint bearing 43 and the coil spring 45 are embedded in the ankle joint bearing sleeve 41; to achieve connection with the lower leg and foot, dorsiflexion or plantarflexion degree of freedom motions;
the end part of the inner ring of the coil spring 45 is clamped into a clamping groove formed in the protruding block 421, the end part of the outer ring of the coil spring 45 is in a hook-shaped structure, and the hook-shaped structure is buckled into a groove 422 formed in the inner peripheral wall of the ankle joint bearing sleeve 41;
to limit movement of the ankle joint to the extreme dorsiflexion or plantar flexion position, the ankle joint movement assembly 4 further includes three ankle joint stop posts, wherein a first ankle joint stop post 423 is provided on a side edge of the ankle joint bearing sleeve 41 furthest from the ankle joint shank connecting rod 44, and a second ankle joint stop post 424 and a third ankle joint stop post 425 are symmetrically distributed on a lower side wall of the ankle joint shaft 42;
when dorsiflexion movement of the ankle reaches the limit position, the first ankle stop post 423 will abut the second ankle stop post 424; when the plantar flexion movement of the ankle reaches the extreme position, the first ankle stop post 423 will abut against the third ankle stop post 425, and will not contact each other in the normal walking movement state.
The coil spring 45 swinging along with the lower leg can effectively reduce the energy loss caused by the collision between the heel and the ground, thereby reducing the energy consumption during the walking process of the human body.
When the position of the lower leg of the human body is observed from the frontal (coronal) plane, the lower leg is not vertical to the ground; the bending/stretching motion axes of the knee joint and the plantar bending/dorsiflexion motion axes of the ankle joint are all perpendicular to the ground. In order to make the exoskeleton more comfortable to wear, it is necessary to have a slight inclination of the calf shank as a whole on the frontal (coronal) plane. The structure for tilting the lower leg is substantially identical to the structure for tilting the thigh, and the angles at which the two are tilted differ due to the difference in angle between the thigh and the lower leg in the frontal (coronal) plane.
The waist fixing component 1 further comprises a supporting plate 13 for bearing weight, wherein the supporting plate 13 is fixed on the waist side connecting rod 12 through a connecting piece 14; when a person carries a weight, the weight is carried by the pallet 13, causing the weight load to be transferred to the exoskeleton.
The thigh support bar 55 includes: an upper thigh link 551 and a lower thigh link 552;
a plurality of positioning holes for adjusting the overall length of the thigh support bar 55 are distributed at intervals in the length direction of the upper thigh link 551 and the lower thigh link 552; when the upper thigh link 551 and the lower thigh link 552 overlap, fastening connection of the upper thigh link 551 and the lower thigh link 552 is achieved by bolts passing through the positioning holes corresponding to each other;
the shank support bar 66 includes: upper and lower calf links 661 and 662;
the upper and lower calf links 661 and 662 are identical in structure to the thigh support bar 55.
Three convex bushings 79 are provided on the inner sides of the lower thigh link 552, the upper shank link 661, and the lower shank link 662, respectively; a sheath 80 is fixed on each convex liner 79;
when the leg portion of the human body is inserted into the sheath 80, the convex liner 79 is used for indirectly isolating the outer side of the leg portion of the human body from the thigh support bar 55 and the shank support bar 66 through point contact, so as to prevent the contact friction between the outer side of the leg portion of the human body and the thigh support bar 55 and the shank support bar 66.
The forefoot strap 81 and the rearfoot strap 82 are arranged on the plantar plate 78, and the forefoot strap 81 is of two open magic tape connecting structures; the hindfoot strap 82 is a closed semi-circular ring-like structure.
The thigh support bar 55 and the shank support bar 66 are both plate-shaped structures; reinforcing ribs are arranged at the edges of the plate-shaped structures; the supporting plate 13 is of a frame structure.
In order to enable the exoskeleton to meet the light-weight design requirement, the structural bending strength is ensured, and meanwhile, hollowing or hollowed-out treatment can be properly carried out at the structural position with low bending strength requirement so as to lighten the overall weight of the exoskeleton.
The embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principles of the invention should be made and equivalents should be construed as falling within the scope of the invention.
Claims (7)
1. A passive lower limb exoskeleton with load conduction and walking energy conservation, which is characterized in that,
comprising the following steps: a waist fixing component (1), a hip joint moving component (2), a knee joint moving component (3) and an ankle joint moving component (4);
the waist fixing member (1) includes: a waist bandage (11) for binding the waist, a waist cross bar (111) and waist side connecting rods (12) respectively and symmetrically fixed at two ends of the waist cross bar (111);
the waist bandage (11) is connected to the end part of the waist cross bar (111) and is used for forming a waist surrounding with the waist cross bar (111) so as to integrally fasten the waist fixing component (1) on the waist;
one end of the hip joint moving component (2) is connected with a waist side connecting rod (12) of the waist fixing component (1), and the other end is connected with the upper part of a thigh supporting rod (55);
the hip joint moving assembly (2) is used for realizing buckling or stretching freedom degree movement between the waist and the thigh supporting rod (55);
one end of the knee joint moving component (3) is connected with the lower part of the thigh supporting rod (55), and the other end is connected with the upper part of the shank supporting rod (66);
the knee joint moving assembly (3) is used for realizing buckling or stretching freedom degree movement between the thigh supporting rod (55) and the shank supporting rod (66);
one end of the ankle joint moving component (4) is connected with the lower part of the shank supporting rod (66), and the other end is connected with the foot plantar plate (78) through the foot plantar supporting rod (77);
the ankle joint moving component (4) is used for realizing the flexion or extension freedom degree movement between the shank supporting rod (66) and the foot plantar supporting rod (77);
the knee joint movement assembly (3) includes: a knee joint bearing sleeve (31), a knee joint bearing (32), a knee joint shaft (33), a knee joint thigh connecting rod (34) and a knee joint shank connecting rod (35);
the knee joint bearing sleeve (31) is arranged at the upper part of the knee joint shank connecting rod (35);
the knee joint shaft (33) is arranged at the lower side part of the knee joint thigh connecting rod (34);
the knee joint bearing (32) is nested in the knee joint bearing sleeve (31); the knee joint shaft (33) is embedded into the shaft hole of the knee joint bearing (32), the knee joint thigh connecting rod (34) is connected to the lower part of the thigh supporting rod (55), and the knee joint shank connecting rod (35) is connected to the upper part of the shank supporting rod (66), so that the knee joint thigh and shank can be connected, buckled or extended freely;
in order to limit the knee joint to move to the limit buckling or stretching position, a stretching limit column (36) and a buckling limit column (37) are respectively arranged at the radial position of a knee joint bearing (32) on the inner side of a knee joint thigh connecting rod (34); an extension stop part (361) and a buckling stop part (371) are respectively arranged on the knee joint bearing sleeve (31) side of the knee joint shank connecting rod (35);
when the extension movement of the knee joint reaches the limit position, the extension limiting column (36) is mutually abutted with the extension stop part (361); when the bending movement of the knee joint reaches the limit position, the bending limit column (37) is mutually abutted with the bending stop part (371);
the knee joint moving component (3) further comprises an energy storage component: a torsion spring (38), a first torsion spring arm fixing post (381), a second torsion spring arm fixing post (382);
the first torsion spring arm fixing column (381) and the second torsion spring arm fixing column (382) are respectively and correspondingly arranged on the side walls of the knee joint thigh connecting rod (34) and the knee joint shank connecting rod (35);
the knee joint shaft (33) is provided with two stepped shafts with different diameters, wherein the first stepped shaft is used for fixing a knee joint bearing (32), and the second stepped shaft (331) extends out of a side hole of the knee joint bearing sleeve (31); the torsion spring (38) is sleeved on the second step shaft (331); wherein, two arms of the torsion spring (38) are respectively embedded into positioning clamping holes (3811, 3821) at the end parts of the first torsion spring arm fixing column (381) and the second torsion spring arm fixing column (382);
the ankle joint movement assembly (4) includes: an ankle joint bearing sleeve (41), an ankle joint shaft (42), an ankle joint bearing (43), an ankle joint shank connecting rod (44), a foot plantar support rod (77), a foot plantar plate (78) and a coil spring (45);
the ankle joint bearing sleeve (41) is arranged at the lower end of the ankle joint shank connecting rod (44);
the ankle joint shaft (42) is arranged on the upper side part of the foot sole supporting rod (77);
the foot plate (78) is arranged at the lower end of the foot support rod (77);
the ankle joint shaft (42) is an inner ring for sleeving an ankle joint bearing (43); the lug (421) at the end part of the ankle joint shaft (42) is used for being installed into an inner ring sleeved with a coil spring (45); the ankle joint bearing (43) and the coil spring (45) are embedded into the ankle joint bearing sleeve (41); to achieve connection with the lower leg and foot, dorsiflexion or plantarflexion degree of freedom motions;
the end part of the inner ring of the coil spring (45) is clamped into a clamping groove formed in the protruding block (421), the end part of the outer ring of the coil spring (45) is in a hook-shaped structure, and the hook-shaped structure is buckled into a groove (422) formed in the inner peripheral wall of the ankle joint bearing sleeve (41);
in order to limit the movement of the ankle joint to a limit dorsiflexion or plantarflexion position, the ankle joint movement assembly (4) further comprises three ankle joint stop posts, wherein a first ankle joint stop post (423) is arranged at the side edge of an ankle joint bearing seat sleeve (41) which is far away from the most distal end of an ankle joint shank connecting rod (44), and a second ankle joint stop post (424) and a third ankle joint stop post (425) are symmetrically distributed on the lower side wall of an ankle joint shaft (42);
when dorsiflexion movement of the ankle reaches an extreme position, the first ankle stop post (423) will abut the second ankle stop post (424) with each other; when the plantar flexion movement of the ankle reaches the extreme position, the first ankle stop (423) will abut the third ankle stop (425).
2. Passive lower extremity exoskeleton with both load conduction and walking energy conservation according to claim 1 characterized in that said hip joint movement assembly (2) comprises: a hip joint bearing (21), a hip joint bearing sleeve (22), a hip joint connecting rod (23) and a hip joint shaft (24);
the hip joint bearing sleeve (22) is arranged at the lower part of the waist side connecting rod (12);
the hip joint shaft (24) is arranged on the upper side part of the hip joint connecting rod (23);
the hip joint bearing (21) is nested inside the hip joint bearing sleeve (22); the hip joint shaft (24) is embedded into the shaft hole of the hip joint bearing (21), and then the lower part of the hip joint connecting rod (23) is connected to the upper part of the thigh supporting rod (55), so that the connection, buckling or stretching freedom degree movement between the hip joint connecting rod and the thigh is realized;
in order to limit the movement of the hip joint to a limit flexion or extension position, three limit projections are provided on the corresponding surfaces of the lower side wall of the waist-side connecting rod (12) and the upper side wall of the hip-joint connecting rod (23), wherein:
the first limiting bulge (25) is positioned above the hip joint bearing sleeve (22);
the second limiting bulge (26) and the third limiting bulge (27) are distributed on the upper side and the lower side of the hip joint shaft (24);
when the extending movement of the hip joint reaches the limit position, the first limit bulge (25) and the third limit bulge (27) are mutually abutted; when the flexion movement of the hip joint reaches the limit position, the first limit projection (25) will abut against the second limit projection (26).
3. Passive lower extremity exoskeleton with both load conduction and walking energy conservation according to claim 2 characterized by the fact that said waist fixing assembly (1) further comprises a pallet (13) for carrying weights, the pallet (13) being fixed to the waist side connecting rod (12) by means of the connecting piece (14); when the human body carries the weight, the weight is carried by the supporting plate (13), so that the load of the weight is transferred to the exoskeleton.
4. A passive lower extremity exoskeleton with both load conduction and walking energy conservation as claimed in claim 3, wherein:
the thigh support bar (55) comprises: an upper thigh link 551 and a lower thigh link 552;
a plurality of positioning holes for adjusting the whole length of the thigh supporting rod (55) are distributed at intervals in the length direction of the upper thigh connecting rod (551) and the lower thigh connecting rod (552); when the upper thigh connecting rod (551) is overlapped with the lower thigh connecting rod (552), bolts penetrate through the positioning holes corresponding to each other to realize the fastening connection of the upper thigh connecting rod (551) and the lower thigh connecting rod (552);
the shank support bar (66) includes: an upper shank link (661) and a lower shank link (662);
the upper and lower shank links (661, 662) are identical in structure to the thigh support bar (55).
5. The passive lower extremity exoskeleton with both load conduction and walking energy conservation of claim 4, wherein: three convex linings (79) are respectively arranged on the inner sides of the lower thigh connecting rod (552), the upper shank connecting rod (661) and the lower shank connecting rod (662); a sheath (80) is fixed on each convex lining (79);
after the leg of the human body penetrates into the sheath (80), the convex liner (79) has the function of indirectly isolating the outer side of the leg of the human body from the thigh support rod (55) and the shank support rod (66) through point contact, so that the outer side of the leg of the human body is prevented from being contacted and rubbed with the thigh support rod (55) and the shank support rod (66).
6. The passive lower extremity exoskeleton with both load conduction and walking energy conservation of claim 4, wherein: the foot pad (78) is provided with a forefoot strap (81) and a foot back strap (82), and the forefoot strap (81) is of two open magic tape connecting structures; the rearfoot strap (82) is of a closed semi-circular ring structure.
7. The passive lower extremity exoskeleton with both load conduction and walking energy conservation of claim 5, wherein: the thigh support bar (55) and the shank support bar (66) are both plate-shaped structures; reinforcing ribs are arranged at the edges of the plate-shaped structures; the supporting plate (13) is of a frame structure.
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Families Citing this family (4)
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| CN114209541A (en) * | 2021-10-28 | 2022-03-22 | 中国科学院深圳先进技术研究院 | Walking assisting exoskeleton device |
| CN114346997B (en) * | 2022-01-06 | 2024-02-20 | 西交利物浦大学 | Lower limb exoskeleton and manufacturing method thereof |
| CN114918901A (en) * | 2022-05-07 | 2022-08-19 | 中国人民解放军陆军军医大学 | Exoskeleton device |
| CN115582825B (en) * | 2022-12-12 | 2024-03-15 | 杭州智元研究院有限公司 | Passive lower limb exoskeleton |
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